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+05/14 22:38:36 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/14 22:38:36 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/14 22:38:36 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/14 22:38:36 INFO: {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
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+                                                      -0.7187697968315937],
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+                                'is_warped': False,
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+                                '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_3gpu/sim_chunks/chunk_302'),
+ '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,
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+                                241.62769618042807,
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+                                440.9812092338339,
+                                500.000000000004,
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+                                          '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,
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+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
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+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 80202,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
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+                 '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},
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+ 'use_filament': False,
+ 'use_passive_viewer': False,
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+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/14 22:38:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/14 22:38:36 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/14 22:38:36 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/14 22:38:36 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/14 22:38:36 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/14 22:38:36 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/14 22:38:36 INFO: {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
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+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
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+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302'),
+ '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 0x7b85f45bd590>,
+ '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': 80203,
+ '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': 3,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/14 22:38:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/14 22:38:36 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/14 22:38:36 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/14 22:38:36 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/14 22:38:36 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/14 22:38:36 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/14 22:38:36 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_3gpu/sim_chunks/chunk_302'),
+ '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 0x720725670f10>,
+ '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': 80201,
+ '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': 3,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/14 22:38:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/14 22:38:36 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/14 22:38:36 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/14 22:38:36 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/14 22:38:36 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/14 22:38:36 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/14 22:38:39 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/14 22:38:39 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/14 22:38:39 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/14 22:38:39 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/14 22:38:39 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/14 22:38:39 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/14 22:38:39 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/14 22:38:39 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/14 22:38:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:38:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:38:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:38:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:38:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:38:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:38:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:38:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.094m, effective arm-mount z=0.766m (base_body_z=-0.094m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.093503m	[env.py: 870]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:38:39 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/14 22:38:39 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/14 22:38:39 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/14 22:38:39 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/14 22:38:39 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/14 22:38:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:38:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:38:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:38:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:38:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:38:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:38:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:38:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:38:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:38:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:38:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:38:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:38:39 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 22:38:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:38:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.089034m	[env.py: 870]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:38:39 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/14 22:38:39 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 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014798m	[env.py: 870]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:38:39 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18749 free points within sampling radius	[env.py: 907]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 150.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.15348338 -0.9200763  -0.08903433] yaw=174.7deg	[env.py: 1019]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.42645562 -0.24956748 -0.01479779] yaw=-165.3deg	[env.py: 1019]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 142.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.02089304 -0.90458226 -0.08903433] yaw=162.5deg	[env.py: 1019]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.19295928 -0.11179332 -0.0935032 ] yaw=-147.2deg	[env.py: 1019]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 126.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.27985582 -0.93943139 -0.08903433] yaw=145.3deg	[env.py: 1019]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:38:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=18.5ms, retries=497.1ms, total=515.6ms	[env.py: 1075]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.153, -0.920, -0.089)	[env.py: 1079]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.7 deg	[env.py: 1082]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.927m	[env.py: 1086]
+05/14 22:38:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:38:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.14090173 -0.68383004 -0.0935032 ] yaw=-160.4deg	[env.py: 1019]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.00535961 -1.05037427 -0.01479779] yaw=152.4deg	[env.py: 1019]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.10488604 -1.2872707  -0.01479779] yaw=144.5deg	[env.py: 1019]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:38:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=18.3ms, retries=571.5ms, total=589.8ms	[env.py: 1075]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.426, -0.250, -0.015)	[env.py: 1079]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.3 deg	[env.py: 1082]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m	[env.py: 1086]
+05/14 22:38:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:38:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.07576171 -0.87401362 -0.0935032 ] yaw=155.3deg	[env.py: 1019]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:38:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=15.6ms, retries=633.1ms, total=648.7ms	[env.py: 1075]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.193, -0.112, -0.094)	[env.py: 1079]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.2 deg	[env.py: 1082]
+05/14 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.128m	[env.py: 1086]
+05/14 22:38:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:38:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:38:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:38:40 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:38:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:38:40 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:38:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:38:40 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:39:08 INFO: [Worker 0] Warmed up parallel IK solver in 28.022s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:39:08 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 22:39:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:39:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:39:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.646s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:39:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.500[m] 92.391[deg]	[grasp_sample.py: 539]
+05/14 22:39:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:39:09 INFO: [Worker 0] Warmed up parallel IK solver in 28.879s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:39:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:39:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:39:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:39:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:39:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:39:09 INFO: [Worker 0] Warmed up parallel IK solver in 29.273s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:39:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:39:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:39:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:39:09 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 22:39:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.576s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:39:10 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.472[m] 66.016[deg]	[grasp_sample.py: 539]
+05/14 22:39:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:39:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:39:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:39:10 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 22:39:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.846s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:39:10 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:39:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:39:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:39:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:39:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:39:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:39:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:39:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:39:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:39:12 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 22:39:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:39:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072263m	[env.py: 870]
+05/14 22:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:39:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18749 free points within sampling radius	[env.py: 907]
+05/14 22:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 109.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.18585515 -0.06808786  0.07226288] yaw=-136.4deg	[env.py: 1019]
+05/14 22:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.41867399  0.12240267  0.07226288] yaw=-102.2deg	[env.py: 1019]
+05/14 22:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.25634262 -0.62132458  0.07226288] yaw=-164.1deg	[env.py: 1019]
+05/14 22:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:39:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=130.5ms, total=130.5ms	[env.py: 1075]
+05/14 22:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.186, -0.068, 0.072)	[env.py: 1079]
+05/14 22:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.4 deg	[env.py: 1082]
+05/14 22:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.161m	[env.py: 1086]
+05/14 22:39:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:39:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:39:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:39:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:39:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:39:12 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:39:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:39:12 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 22:39:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:39:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:39:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.884s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:39:14 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:39:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:39:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:39:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:39:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:39:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:39:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:39:16 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 22:39:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:39:16 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 22:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045848m	[env.py: 870]
+05/14 22:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:39:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18749 free points within sampling radius	[env.py: 907]
+05/14 22:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 130.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 142.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.56812426 -0.19332565  0.04584844] yaw=-117.3deg	[env.py: 1019]
+05/14 22:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.48698032 -0.24170749  0.04584844] yaw=-112.4deg	[env.py: 1019]
+05/14 22:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.19169454 -0.39113365  0.04584844] yaw=-178.0deg	[env.py: 1019]
+05/14 22:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:39:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=275.0ms, total=275.1ms	[env.py: 1075]
+05/14 22:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.568, -0.193, 0.046)	[env.py: 1079]
+05/14 22:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -117.3 deg	[env.py: 1082]
+05/14 22:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m	[env.py: 1086]
+05/14 22:39:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:39:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:39:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:39:16 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:39:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:39:16 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 22:39:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:39:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:39:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.522s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:39:17 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.421[m] 86.206[deg]	[grasp_sample.py: 539]
+05/14 22:39:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:39:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:39:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:39:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:39:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:39:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:39:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:39:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:39:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:40:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:40:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:40:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:40:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:41:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:41:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:41:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:41:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:41:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:41:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:41:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:41:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:41:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:41:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:41:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:41:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:41:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:41:16 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 22:41:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:41:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:41:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:41:18 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.869s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:41:18 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.840[deg]	[grasp_sample.py: 539]
+05/14 22:41:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:41:19 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 22:41:20 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:41:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:41:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:41:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:41:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:41:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:41:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:41:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:41:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:41:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:41:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:41:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:41:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.098m, effective arm-mount z=0.762m (base_body_z=-0.098m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.098313m	[env.py: 870]
+05/14 22:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:41:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18749 free points within sampling radius	[env.py: 907]
+05/14 22:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 111.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.22992159 -0.92527644 -0.09831342] yaw=144.8deg	[env.py: 1019]
+05/14 22:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.0198258  -0.68699517 -0.09831342] yaw=-152.6deg	[env.py: 1019]
+05/14 22:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:41:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=323.9ms, total=324.0ms	[env.py: 1075]
+05/14 22:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.230, -0.925, -0.098)	[env.py: 1079]
+05/14 22:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 144.8 deg	[env.py: 1082]
+05/14 22:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m	[env.py: 1086]
+05/14 22:41:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:41:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:41:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:41:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:41:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:41:22 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:41:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:41:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:41:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:41:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:41:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:41:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.670s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:41:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.693[m] 72.963[deg]	[grasp_sample.py: 539]
+05/14 22:41:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:41:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:41:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:41:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:41:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:41:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:41:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:41:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:41:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:41:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:41:25 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.773s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:41:25 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.692[deg]	[grasp_sample.py: 539]
+05/14 22:41:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:41:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:41:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:41:36 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:41:39 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[pipeline.py: 1174]
+05/14 22:41:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_302 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/14 22:41:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:41:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:41:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[save_utils.py: 785]
+05/14 22:41:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_302 in 11.86s (batch: 2.92s, save: 8.94s)	[pipeline.py: 300]
+05/14 22:41:51 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.73s:
+  episode_total: mean=195.58s, total=195.58s, count=1, min=195583.9ms, max=195583.9ms
+  sensor_polling: mean=393.2ms, total=117.97s, count=300, min=299.2ms, max=614.6ms
+  save_trajectories: mean=8.94s, total=8.94s, count=1, min=8939.7ms, max=8939.7ms
+  physics_step: mean=25.1ms, total=7.54s, count=300, min=17.5ms, max=30.4ms
+  task_sampling: mean=3.73s, total=3.73s, count=1, min=3727.8ms, max=3727.8ms
+  save_batch_prep: mean=2.92s, total=2.92s, count=1, min=2920.4ms, max=2920.4ms
+  scene_load: mean=2.90s, total=2.90s, count=1, min=2897.6ms, max=2897.6ms
+  scene_env_create: mean=1.82s, total=1.82s, count=1, min=1823.1ms, max=1823.1ms
+  scene_compile: mean=943.8ms, total=943.8ms, count=1, min=943.8ms, max=943.8ms
+  task_specific_sample: mean=827.7ms, total=827.7ms, count=1, min=827.7ms, max=827.7ms
+  compile_mujoco: mean=662.5ms, total=662.5ms, count=1, min=662.5ms, max=662.5ms
+  compile_xml_load: mean=207.2ms, total=207.2ms, count=1, min=207.2ms, max=207.2ms
+  scene_init: mean=76.2ms, total=76.2ms, count=1, min=76.2ms, max=76.2ms
+  scene_asset_install: mean=54.2ms, total=54.2ms, count=1, min=54.2ms, max=54.2ms
+  compile_aux_objects: mean=42.6ms, total=42.6ms, count=1, min=42.6ms, max=42.6ms
+  compile_aux_policy_objects: mean=42.6ms, total=42.6ms, count=1, min=42.6ms, max=42.6ms
+  asset_install_grasps: mean=40.3ms, total=40.3ms, count=1, min=40.3ms, max=40.3ms
+  compile_robot_add: mean=21.8ms, total=21.8ms, count=1, min=21.8ms, max=21.8ms
+  asset_install_objects: mean=10.3ms, total=10.3ms, count=1, min=10.3ms, max=10.3ms
+  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=366.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=55.8us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
+05/14 22:41:52 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[pipeline.py: 1174]
+05/14 22:41:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_302 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/14 22:41:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:41:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:41:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:41:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:41:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:41:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:41:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:41:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:41:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:41:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:41:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:41:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.098m, effective arm-mount z=0.762m (base_body_z=-0.098m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.098375m	[env.py: 870]
+05/14 22:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:41:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.01858574 -0.56854621 -0.09837482] yaw=-175.5deg	[env.py: 1019]
+05/14 22:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.13125139 -0.62954663 -0.09837482] yaw=-186.4deg	[env.py: 1019]
+05/14 22:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -161.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.06222464 -1.1637621  -0.09837482] yaw=180.4deg	[env.py: 1019]
+05/14 22:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:41:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=336.4ms, total=336.4ms	[env.py: 1075]
+05/14 22:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.019, -0.569, -0.098)	[env.py: 1079]
+05/14 22:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.5 deg	[env.py: 1082]
+05/14 22:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.121m	[env.py: 1086]
+05/14 22:41:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:41:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:41:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:41:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:41:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:41:53 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:41:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:41:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:41:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:41:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:41:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.112s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:41:56 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.876[m] 76.526[deg]	[grasp_sample.py: 539]
+05/14 22:41:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:41:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:41:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:41:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:42:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:42:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[save_utils.py: 785]
+05/14 22:42:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_302 in 13.79s (batch: 3.20s, save: 10.59s)	[pipeline.py: 300]
+05/14 22:42:07 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.60s:
+  episode_total: mean=210.47s, total=210.47s, count=1, min=210472.3ms, max=210472.3ms
+  sensor_polling: mean=424.9ms, total=127.46s, count=300, min=324.6ms, max=687.2ms
+  save_trajectories: mean=10.59s, total=10.59s, count=1, min=10588.6ms, max=10588.6ms
+  physics_step: mean=23.6ms, total=7.07s, count=300, min=17.6ms, max=28.5ms
+  task_sampling: mean=3.60s, total=3.60s, count=1, min=3597.3ms, max=3597.3ms
+  save_batch_prep: mean=3.20s, total=3.20s, count=1, min=3202.5ms, max=3202.5ms
+  scene_load: mean=2.78s, total=2.78s, count=1, min=2777.1ms, max=2777.1ms
+  scene_env_create: mean=1.74s, total=1.74s, count=1, min=1737.4ms, max=1737.4ms
+  scene_compile: mean=916.6ms, total=916.6ms, count=1, min=916.6ms, max=916.6ms
+  task_specific_sample: mean=817.7ms, total=817.7ms, count=1, min=817.7ms, max=817.7ms
+  compile_mujoco: mean=692.3ms, total=692.3ms, count=1, min=692.3ms, max=692.3ms
+  compile_xml_load: mean=144.6ms, total=144.6ms, count=1, min=144.6ms, max=144.6ms
+  scene_init: mean=77.3ms, total=77.3ms, count=1, min=77.3ms, max=77.3ms
+  compile_aux_objects: mean=62.3ms, total=62.3ms, count=1, min=62.3ms, max=62.3ms
+  compile_aux_policy_objects: mean=62.2ms, total=62.2ms, count=1, min=62.2ms, max=62.2ms
+  scene_asset_install: mean=45.5ms, total=45.5ms, count=1, min=45.5ms, max=45.5ms
+  asset_install_grasps: mean=31.3ms, total=31.3ms, count=1, min=31.3ms, max=31.3ms
+  asset_install_objects: mean=11.5ms, total=11.5ms, count=1, min=11.5ms, max=11.5ms
+  compile_robot_add: mean=5.4ms, total=5.4ms, count=1, min=5.4ms, max=5.4ms
+  asset_install_scene: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
+  mj_forward_sync: mean=362.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=52.6us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
+05/14 22:42:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:42:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:42:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:42:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:42:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:42:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:42:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:42:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:42:08 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 22:42:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:42:08 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 22:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072919m	[env.py: 870]
+05/14 22:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:42:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.02133206 -0.89438195  0.0729191 ] yaw=168.1deg	[env.py: 1019]
+05/14 22:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.25420885 -0.36646305  0.0729191 ] yaw=-178.8deg	[env.py: 1019]
+05/14 22:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.14260003 -0.45970566  0.0729191 ] yaw=-160.9deg	[env.py: 1019]
+05/14 22:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:42:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=354.2ms, total=354.2ms	[env.py: 1075]
+05/14 22:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.021, -0.894, 0.073)	[env.py: 1079]
+05/14 22:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.1 deg	[env.py: 1082]
+05/14 22:42:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m	[env.py: 1086]
+05/14 22:42:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:42:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:42:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:42:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:42:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:42:09 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:42:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:42:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:42:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:42:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:42:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.824s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:42:10 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.567[m] 77.429[deg]	[grasp_sample.py: 539]
+05/14 22:42:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:42:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:42:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:42:10 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 22:42:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:42:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:42:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:43:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:43:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:43:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:43:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:43:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:43:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:43:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:43:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:43:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:43:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:43:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:43:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:43:11 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 22:43:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:43:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:43:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.774s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:43:12 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.068[m] 3.462[deg]	[grasp_sample.py: 539]
+05/14 22:43:13 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 22:43:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:43:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:43:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:43:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:43:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:43:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:43:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:43:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:43:15 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 22:43:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:43:15 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 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005717m	[env.py: 870]
+05/14 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:43:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.28781445 -0.43205356  0.00571664] yaw=-151.8deg	[env.py: 1019]
+05/14 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.21463963 -0.96066443  0.00571664] yaw=165.3deg	[env.py: 1019]
+05/14 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.12567646 -1.32445586  0.00571664] yaw=166.3deg	[env.py: 1019]
+05/14 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:43:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=273.0ms, total=273.0ms	[env.py: 1075]
+05/14 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.288, -0.432, 0.006)	[env.py: 1079]
+05/14 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.8 deg	[env.py: 1082]
+05/14 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m	[env.py: 1086]
+05/14 22:43:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:43:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:43:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:43:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:43:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:43:15 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:43:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:43:15 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 22:43:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:43:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:43:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:43:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.826s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:43:16 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.604[m] 84.936[deg]	[grasp_sample.py: 539]
+05/14 22:43:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:43:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:43:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:43:17 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 22:43:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:43:24 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:43:43 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[pipeline.py: 1174]
+05/14 22:43:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_302 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/14 22:43:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:43:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:43:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[save_utils.py: 785]
+05/14 22:43:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_302 in 14.44s (batch: 3.67s, save: 10.77s)	[pipeline.py: 300]
+05/14 22:43:58 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=5.33s:
+  episode_total: mean=79.51s, total=318.06s, count=4, min=2355.5ms, max=157437.0ms
+  sensor_polling: mean=383.9ms, total=212.31s, count=553, min=294.0ms, max=656.3ms
+  physics_step: mean=23.7ms, total=13.12s, count=553, min=17.4ms, max=81.8ms
+  save_trajectories: mean=10.77s, total=10.77s, count=1, min=10770.9ms, max=10770.9ms
+  task_sampling: mean=1.33s, total=5.33s, count=4, min=329.9ms, max=3906.7ms
+  save_batch_prep: mean=3.67s, total=3.67s, count=1, min=3668.2ms, max=3668.2ms
+  scene_load: mean=3.02s, total=3.02s, count=1, min=3021.0ms, max=3021.0ms
+  task_specific_sample: mean=574.3ms, total=2.30s, count=4, min=326.9ms, max=882.7ms
+  scene_env_create: mean=1.74s, total=1.74s, count=1, min=1739.9ms, max=1739.9ms
+  scene_compile: mean=1.15s, total=1.15s, count=1, min=1154.0ms, max=1154.0ms
+  compile_mujoco: mean=731.5ms, total=731.5ms, count=1, min=731.5ms, max=731.5ms
+  compile_xml_load: mean=345.6ms, total=345.6ms, count=1, min=345.6ms, max=345.6ms
+  scene_init: mean=75.5ms, total=75.5ms, count=1, min=75.5ms, max=75.5ms
+  scene_asset_install: mean=51.3ms, total=51.3ms, count=1, min=51.3ms, max=51.3ms
+  compile_aux_objects: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms
+  compile_aux_policy_objects: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms
+  asset_install_grasps: mean=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
+  compile_robot_add: mean=21.9ms, total=21.9ms, count=1, min=21.9ms, max=21.9ms
+  asset_install_objects: mean=10.0ms, total=10.0ms, count=1, min=10.0ms, max=10.0ms
+  scene_randomize: mean=1.5ms, total=5.9ms, count=4, min=1.2ms, max=1.8ms
+  asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=444.0us, total=1.8ms, count=4, min=0.4ms, max=0.5ms
+  policy_setup: mean=23.4us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:44:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:44:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:44:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:44:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:44:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:44:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:44:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:44:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:44:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:44:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:44:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097262m	[env.py: 870]
+05/14 22:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:44:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18749 free points within sampling radius	[env.py: 907]
+05/14 22:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 151.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -179.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -149.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 143.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:44:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:44:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=376.5ms, total=376.6ms	[env.py: 1105]
+05/14 22:44:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 302]
+05/14 22:44:00 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/14 22:44:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:44:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:44:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:44:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:44:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:44:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:44:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:44:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:44:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:44:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:44:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072140m	[env.py: 870]
+05/14 22:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:44:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18749 free points within sampling radius	[env.py: 907]
+05/14 22:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -176.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.07451038 -0.40537755  0.07214   ] yaw=-180.0deg	[env.py: 1019]
+05/14 22:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.3978181   0.04434744  0.07214   ] yaw=-117.4deg	[env.py: 1019]
+05/14 22:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -154.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.13979789 -0.26005615  0.07214   ] yaw=-137.3deg	[env.py: 1019]
+05/14 22:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:44:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=328.0ms, total=328.0ms	[env.py: 1075]
+05/14 22:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.075, -0.405, 0.072)	[env.py: 1079]
+05/14 22:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.0 deg	[env.py: 1082]
+05/14 22:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m	[env.py: 1086]
+05/14 22:44:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:44:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:44:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:44:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:44:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:44:02 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:44:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:44:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:44:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:44:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:44:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.091s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:44:05 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.876[m] 77.898[deg]	[grasp_sample.py: 539]
+05/14 22:44:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:44:05 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:44:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:44:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:44:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:44:05 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 22:44:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:44:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:44:23 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[pipeline.py: 1174]
+05/14 22:44:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_302 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/14 22:44:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:44:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:44:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[save_utils.py: 785]
+05/14 22:44:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_302 in 13.44s (batch: 5.02s, save: 8.43s)	[pipeline.py: 300]
+05/14 22:44:37 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.55s:
+  episode_total: mean=163.80s, total=163.80s, count=1, min=163799.3ms, max=163799.3ms
+  sensor_polling: mean=396.7ms, total=119.02s, count=300, min=298.7ms, max=699.5ms
+  save_trajectories: mean=8.43s, total=8.43s, count=1, min=8426.3ms, max=8426.3ms
+  physics_step: mean=23.2ms, total=6.95s, count=300, min=17.6ms, max=32.8ms
+  save_batch_prep: mean=5.02s, total=5.02s, count=1, min=5017.3ms, max=5017.3ms
+  task_sampling: mean=550.1ms, total=550.1ms, count=1, min=550.1ms, max=550.1ms
+  task_specific_sample: mean=545.9ms, total=545.9ms, count=1, min=545.9ms, max=545.9ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=430.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:44:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:44:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:44:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:44:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:44:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:44:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:44:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:44:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:44:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:44:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:44:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.091m, effective arm-mount z=0.769m (base_body_z=-0.091m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.091417m	[env.py: 870]
+05/14 22:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:44:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 117.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 135.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.30177653 -0.052712   -0.09141658] yaw=-107.0deg	[env.py: 1019]
+05/14 22:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.43270497 -0.00266174 -0.09141658] yaw=-149.1deg	[env.py: 1019]
+05/14 22:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.10156905 -0.3618817  -0.09141658] yaw=-173.1deg	[env.py: 1019]
+05/14 22:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:44:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.6ms, total=160.6ms	[env.py: 1075]
+05/14 22:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.302, -0.053, -0.091)	[env.py: 1079]
+05/14 22:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -107.0 deg	[env.py: 1082]
+05/14 22:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m	[env.py: 1086]
+05/14 22:44:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:44:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:44:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:44:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:44:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:44:39 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:44:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.130s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:44:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:44:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:44:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:44:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.999s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:44:41 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:44:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:44:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:44:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:44:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:44:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:44:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:44:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:44:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:44:43 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 22:44:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:44:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050417m	[env.py: 870]
+05/14 22:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:44:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.24761367 -0.16951534  0.05041696] yaw=-115.5deg	[env.py: 1019]
+05/14 22:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.18971493 -0.0642752   0.05041696] yaw=-148.2deg	[env.py: 1019]
+05/14 22:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 139.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 143.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.21057842 -0.19321651  0.05041696] yaw=-162.0deg	[env.py: 1019]
+05/14 22:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:44:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=86.9ms, total=87.0ms	[env.py: 1075]
+05/14 22:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.248, -0.170, 0.050)	[env.py: 1079]
+05/14 22:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -115.5 deg	[env.py: 1082]
+05/14 22:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.049m	[env.py: 1086]
+05/14 22:44:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:44:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:44:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:44:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:44:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:44:43 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:44:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:44:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:44:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:44:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:44:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.247s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:44:47 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.831[m] 99.607[deg]	[grasp_sample.py: 539]
+05/14 22:44:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:44:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:44:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:45:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:45:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:45:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:45:21 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:45:39 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[pipeline.py: 1174]
+05/14 22:45:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_302 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/14 22:45:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:45:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:45:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:45:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:45:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[save_utils.py: 785]
+05/14 22:45:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_302 in 11.79s (batch: 3.13s, save: 8.67s)	[pipeline.py: 300]
+05/14 22:45:51 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=1.09s:
+  episode_total: mean=110.98s, total=221.96s, count=2, min=65319.9ms, max=156642.2ms
+  sensor_polling: mean=395.0ms, total=162.34s, count=411, min=282.4ms, max=661.5ms
+  physics_step: mean=23.3ms, total=9.56s, count=411, min=13.8ms, max=30.2ms
+  save_trajectories: mean=8.67s, total=8.67s, count=1, min=8666.7ms, max=8666.7ms
+  save_batch_prep: mean=3.13s, total=3.13s, count=1, min=3127.2ms, max=3127.2ms
+  task_sampling: mean=546.2ms, total=1.09s, count=2, min=459.1ms, max=633.2ms
+  task_specific_sample: mean=542.0ms, total=1.08s, count=2, min=455.8ms, max=628.3ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.3ms, max=3.2ms
+  mj_forward_sync: mean=632.8us, total=1.3ms, count=2, min=0.6ms, max=0.7ms
+  policy_setup: mean=18.4us, 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 22:45:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:45:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:45:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:45:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:45:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:45:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:45:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:45:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:45:53 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 22:45:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:45:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.070m, effective arm-mount z=0.790m (base_body_z=-0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.070466m	[env.py: 870]
+05/14 22:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:45:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.19051175 -0.40734452 -0.07046565] yaw=-176.6deg	[env.py: 1019]
+05/14 22:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.01209593 -0.28395859 -0.07046565] yaw=-158.1deg	[env.py: 1019]
+05/14 22:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.09975544 -1.03984778 -0.07046565] yaw=197.5deg	[env.py: 1019]
+05/14 22:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:45:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=265.0ms, total=265.1ms	[env.py: 1075]
+05/14 22:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.191, -0.407, -0.070)	[env.py: 1079]
+05/14 22:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.6 deg	[env.py: 1082]
+05/14 22:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m	[env.py: 1086]
+05/14 22:45:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:45:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:45:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:45:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:45:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:45:53 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:45:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:45:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:45:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:45:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:45:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:45:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.612s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:45:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.656[m] 43.306[deg]	[grasp_sample.py: 539]
+05/14 22:45:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:45:54 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/14 22:45:54 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=False episode_total=0.49s:
+  episode_total: mean=1.67s, total=1.67s, count=1, min=1665.8ms, max=1665.8ms
+  task_sampling: mean=491.4ms, total=491.4ms, count=1, min=491.4ms, max=491.4ms
+  task_specific_sample: mean=487.9ms, total=487.9ms, count=1, min=487.9ms, max=487.9ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=452.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.6us, 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 22:45:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:45:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:45:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:45:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:45:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:45:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:45:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:45:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:45:56 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 22:45:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:45:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.098m, effective arm-mount z=0.762m (base_body_z=-0.098m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:45:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:45:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:45:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.097556m	[env.py: 870]
+05/14 22:45:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:45:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:45:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:45:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.01053686 -0.69039541 -0.09755587] yaw=-201.6deg	[env.py: 1019]
+05/14 22:45:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:45:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.46278075  0.02264852 -0.09755587] yaw=-125.9deg	[env.py: 1019]
+05/14 22:45:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:45:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 110.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:45:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.12588869 -0.75318617 -0.09755587] yaw=-150.7deg	[env.py: 1019]
+05/14 22:45:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:45:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:45:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.5ms, total=138.5ms	[env.py: 1075]
+05/14 22:45:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.011, -0.690, -0.098)	[env.py: 1079]
+05/14 22:45:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -201.6 deg	[env.py: 1082]
+05/14 22:45:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m	[env.py: 1086]
+05/14 22:45:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:45:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:45:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:45:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:45:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:45:56 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:45:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:45:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:45:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:45:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:45:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.934s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:45:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.704[m] 76.404[deg]	[grasp_sample.py: 539]
+05/14 22:45:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:45:58 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:45:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:45:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:45:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:46:17 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[pipeline.py: 1174]
+05/14 22:46:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_302 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/14 22:46:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:46:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:46:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[save_utils.py: 785]
+05/14 22:46:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_302 in 14.12s (batch: 3.29s, save: 10.84s)	[pipeline.py: 300]
+05/14 22:46:32 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.60s:
+  episode_total: mean=75.36s, total=150.72s, count=2, min=404.1ms, max=150313.3ms
+  sensor_polling: mean=348.1ms, total=104.42s, count=300, min=280.9ms, max=624.5ms
+  save_trajectories: mean=10.84s, total=10.84s, count=1, min=10838.0ms, max=10838.0ms
+  physics_step: mean=22.0ms, total=6.61s, count=300, min=17.1ms, max=32.9ms
+  save_batch_prep: mean=3.29s, total=3.29s, count=1, min=3285.6ms, max=3285.6ms
+  task_specific_sample: mean=492.7ms, total=985.3ms, count=2, min=383.8ms, max=601.5ms
+  task_sampling: mean=604.2ms, total=604.2ms, count=1, min=604.2ms, max=604.2ms
+  task_sampling_failed: mean=404.1ms, total=404.1ms, count=1, min=404.1ms, max=404.1ms
+  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.0ms, max=2.7ms
+  mj_forward_sync: mean=507.6us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:46:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:46:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:46:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:46:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:46:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:46:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:46:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:46:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:46:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:46:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:46:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039523m	[env.py: 870]
+05/14 22:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:46:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18749 free points within sampling radius	[env.py: 907]
+05/14 22:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.37100057 -0.25013345  0.0395233 ] yaw=-133.9deg	[env.py: 1019]
+05/14 22:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:46:34 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.5706505  -0.15291363  0.0395233 ] yaw=-131.6deg	[env.py: 1019]
+05/14 22:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:46:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=520.3ms, total=520.4ms	[env.py: 1075]
+05/14 22:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.371, -0.250, 0.040)	[env.py: 1079]
+05/14 22:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.9 deg	[env.py: 1082]
+05/14 22:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m	[env.py: 1086]
+05/14 22:46:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:46:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:46:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:46:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:46:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:46:34 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:46:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:46:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:46:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:46:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:46:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.949s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:46:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.446[m] 104.498[deg]	[grasp_sample.py: 539]
+05/14 22:46:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:46:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:46:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:46:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:46:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:46:53 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[pipeline.py: 1174]
+05/14 22:46:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_302 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/14 22:46:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:47:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:47:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:47:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[save_utils.py: 785]
+05/14 22:47:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_302 in 12.23s (batch: 3.71s, save: 8.51s)	[pipeline.py: 300]
+05/14 22:47:06 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.64s:
+  episode_total: mean=72.68s, total=145.36s, count=2, min=2587.5ms, max=142775.3ms
+  sensor_polling: mean=328.6ms, total=98.58s, count=300, min=300.7ms, max=566.0ms
+  save_trajectories: mean=8.51s, total=8.51s, count=1, min=8511.2ms, max=8511.2ms
+  physics_step: mean=20.0ms, total=6.00s, count=300, min=14.1ms, max=31.3ms
+  save_batch_prep: mean=3.71s, total=3.71s, count=1, min=3714.1ms, max=3714.1ms
+  task_sampling: mean=321.3ms, total=642.6ms, count=2, min=249.2ms, max=393.5ms
+  task_specific_sample: mean=316.9ms, total=633.8ms, count=2, min=246.2ms, max=387.6ms
+  scene_randomize: mean=2.8ms, total=5.7ms, count=2, min=1.2ms, max=4.5ms
+  mj_forward_sync: mean=431.1us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=28.5us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:47:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:47:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:47:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:47:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:47:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:47:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:47:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:47:08 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 22:47:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:47:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.067m, effective arm-mount z=0.927m (base_body_z=0.067m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.066776m	[env.py: 870]
+05/14 22:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:47:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.37664157 -0.3560723   0.06677579] yaw=-130.7deg	[env.py: 1019]
+05/14 22:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:47:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=227.1ms, total=227.2ms	[env.py: 1075]
+05/14 22:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.377, -0.356, 0.067)	[env.py: 1079]
+05/14 22:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.7 deg	[env.py: 1082]
+05/14 22:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.836m	[env.py: 1086]
+05/14 22:47:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:47:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:47:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:47:08 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:47:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:47:08 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 22:47:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:47:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:47:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.639s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:47:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.429[m] 107.555[deg]	[grasp_sample.py: 539]
+05/14 22:47:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:47:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:47:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:47:10 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 22:47:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:47:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:47:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:47:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:47:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:47:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:48:01 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:48:22 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[pipeline.py: 1174]
+05/14 22:48:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_302 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/14 22:48:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:48:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:48:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:48:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:48:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:48:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:48:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:48:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:48:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:48:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:48:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:48:32 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 22:48:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:48:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:48:34 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.066s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:48:34 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.108[m] 0.272[deg]	[grasp_sample.py: 539]
+05/14 22:48:35 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 22:48:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:48:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:48:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:48:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:48:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:48:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:48:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:48:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:48:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:48:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:48:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035914m	[env.py: 870]
+05/14 22:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:48:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18749 free points within sampling radius	[env.py: 907]
+05/14 22:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 148.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.5793135  -0.04872282  0.03591397] yaw=-130.3deg	[env.py: 1019]
+05/14 22:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.14632189 -0.3620283   0.03591397] yaw=-147.7deg	[env.py: 1019]
+05/14 22:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.27668525 -0.06175917  0.03591397] yaw=-113.5deg	[env.py: 1019]
+05/14 22:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:48:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=420.0ms, total=420.0ms	[env.py: 1075]
+05/14 22:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.579, -0.049, 0.036)	[env.py: 1079]
+05/14 22:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.3 deg	[env.py: 1082]
+05/14 22:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m	[env.py: 1086]
+05/14 22:48:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:48:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:48:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:48:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:48:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:48:37 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:48:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:48:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:48:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:48:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:48:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.109s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:48:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.558[m] 78.767[deg]	[grasp_sample.py: 539]
+05/14 22:48:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:48:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:48:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:48:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:48:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[save_utils.py: 785]
+05/14 22:48:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_302 in 17.27s (batch: 7.02s, save: 10.25s)	[pipeline.py: 300]
+05/14 22:48:40 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.33s:
+  episode_total: mean=164.24s, total=164.24s, count=1, min=164240.2ms, max=164240.2ms
+  sensor_polling: mean=380.0ms, total=114.01s, count=300, min=297.3ms, max=774.4ms
+  save_trajectories: mean=10.25s, total=10.25s, count=1, min=10249.9ms, max=10249.9ms
+  save_batch_prep: mean=7.02s, total=7.02s, count=1, min=7015.1ms, max=7015.1ms
+  physics_step: mean=21.8ms, total=6.53s, count=300, min=13.8ms, max=45.9ms
+  task_sampling: mean=330.0ms, total=330.0ms, count=1, min=330.0ms, max=330.0ms
+  task_specific_sample: mean=327.3ms, total=327.3ms, count=1, min=327.3ms, max=327.3ms
+  scene_randomize: mean=1.0ms, total=1.0ms, count=1, min=1.0ms, max=1.0ms
+  mj_forward_sync: mean=357.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=13.5us, 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 22:48:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:48:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:48:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:48:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:48:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:48:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:48:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:48:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:48:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:48:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:48:42 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 22:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052133m	[env.py: 870]
+05/14 22:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:48:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.13660039 -0.72830103  0.05213318] yaw=-154.7deg	[env.py: 1019]
+05/14 22:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.06987538 -0.31109962  0.05213318] yaw=-161.8deg	[env.py: 1019]
+05/14 22:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 147.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.02939052 -1.21634758  0.05213318] yaw=139.3deg	[env.py: 1019]
+05/14 22:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:48:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.2ms, total=115.2ms	[env.py: 1075]
+05/14 22:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.137, -0.728, 0.052)	[env.py: 1079]
+05/14 22:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.7 deg	[env.py: 1082]
+05/14 22:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m	[env.py: 1086]
+05/14 22:48:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:48:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:48:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:48:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:48:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:48:42 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:48:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:48:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:48:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:48:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:48:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.792s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:48:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.571[m] 88.614[deg]	[grasp_sample.py: 539]
+05/14 22:48:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:48:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:48:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:48:52 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:49:07 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[pipeline.py: 1174]
+05/14 22:49:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_302 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/14 22:49:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:49:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:49:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:49:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[save_utils.py: 785]
+05/14 22:49:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_302 in 11.96s (batch: 3.68s, save: 8.27s)	[pipeline.py: 300]
+05/14 22:49:20 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.46s:
+  episode_total: mean=131.86s, total=131.86s, count=1, min=131861.8ms, max=131861.8ms
+  sensor_polling: mean=313.9ms, total=94.17s, count=300, min=284.5ms, max=563.9ms
+  save_trajectories: mean=8.27s, total=8.27s, count=1, min=8271.5ms, max=8271.5ms
+  physics_step: mean=19.7ms, total=5.91s, count=300, min=13.8ms, max=30.3ms
+  save_batch_prep: mean=3.68s, total=3.68s, count=1, min=3684.9ms, max=3684.9ms
+  task_sampling: mean=458.7ms, total=458.7ms, count=1, min=458.7ms, max=458.7ms
+  task_specific_sample: mean=454.2ms, total=454.2ms, count=1, min=454.2ms, max=454.2ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=457.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=36.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:49:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:49:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:49:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:49:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:49:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:49:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:49:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:49:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:49:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:49:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:49:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:49:22 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 22:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.042444m	[env.py: 870]
+05/14 22:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:49:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.41516712  0.13271126 -0.04244439] yaw=-101.7deg	[env.py: 1019]
+05/14 22:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 148.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.49514243 -0.16300069 -0.04244439] yaw=-149.6deg	[env.py: 1019]
+05/14 22:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:49:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=187.5ms, total=187.5ms	[env.py: 1075]
+05/14 22:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.415, 0.133, -0.042)	[env.py: 1079]
+05/14 22:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -101.7 deg	[env.py: 1082]
+05/14 22:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.155m	[env.py: 1086]
+05/14 22:49:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:49:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:49:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:49:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:49:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:49:22 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:49:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:49:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:49:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:49:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:49:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:49:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.159s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:49:24 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:49:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:49:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:49:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:49:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:49:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:49:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:49:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:49:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:49:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:49:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:49:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:49:27 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 22:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.060485m	[env.py: 870]
+05/14 22:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:49:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.17687181 -0.6919378  -0.06048515] yaw=-195.3deg	[env.py: 1019]
+05/14 22:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 126.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.19687396 -0.36960105 -0.06048515] yaw=-177.0deg	[env.py: 1019]
+05/14 22:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -80.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.04846547 -0.676368   -0.06048515] yaw=-177.3deg	[env.py: 1019]
+05/14 22:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:49:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=154.5ms, total=154.6ms	[env.py: 1075]
+05/14 22:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.177, -0.692, -0.060)	[env.py: 1079]
+05/14 22:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -195.3 deg	[env.py: 1082]
+05/14 22:49:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m	[env.py: 1086]
+05/14 22:49:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:49:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:49:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:49:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:49:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:49:27 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:49:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:49:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:49:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:49:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:49:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.706s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:49:28 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.532[m] 88.363[deg]	[grasp_sample.py: 539]
+05/14 22:49:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:49:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:49:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:49:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:49:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:49:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:49:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:49:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:49:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:49:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:49:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:49:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:49:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:49:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:49:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:49:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:49:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:49:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:49:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:49:58 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.598s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:49:58 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.611[deg]	[grasp_sample.py: 539]
+05/14 22:49:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:49:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:49:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:50:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:50:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:50:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:50:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:50:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:50:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:50:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:50:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:50:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:50:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:50:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:50:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:50:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:50:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:50:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:50:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:50:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:50:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:50:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:50:29 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.899s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:50:29 INFO: [Worker 0] Feasible grasp found 224 (originally 109): w/ 0.116[m] 2.938[deg]	[grasp_sample.py: 539]
+05/14 22:50:30 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 22:50:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:50:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:50:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:50:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:50:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:50:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:50:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:50:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:50:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:50:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:50:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098805m	[env.py: 870]
+05/14 22:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:50:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18749 free points within sampling radius	[env.py: 907]
+05/14 22:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.02210654 -0.50381884  0.0988052 ] yaw=-175.2deg	[env.py: 1019]
+05/14 22:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.40254021 -0.30168563  0.0988052 ] yaw=-134.8deg	[env.py: 1019]
+05/14 22:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.26770666 -0.16584413  0.0988052 ] yaw=-168.8deg	[env.py: 1019]
+05/14 22:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:50:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=468.1ms, total=468.2ms	[env.py: 1075]
+05/14 22:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.022, -0.504, 0.099)	[env.py: 1079]
+05/14 22:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.2 deg	[env.py: 1082]
+05/14 22:50:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.140m	[env.py: 1086]
+05/14 22:50:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:50:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:50:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:50:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:50:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:50:32 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:50:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:50:32 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 22:50:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:50:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:50:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.857s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:50:34 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:50:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:50:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:50:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:50:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:50:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:50:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:50:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:50:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:50:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:50:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:50:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.010m, effective arm-mount z=0.850m (base_body_z=-0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.009659m	[env.py: 870]
+05/14 22:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:50:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18749 free points within sampling radius	[env.py: 907]
+05/14 22:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 139.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 154.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.32102277 -0.02627968 -0.00965881] yaw=-132.5deg	[env.py: 1019]
+05/14 22:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.23075406 -0.4959799  -0.00965881] yaw=-147.6deg	[env.py: 1019]
+05/14 22:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:50:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=313.4ms, total=313.4ms	[env.py: 1075]
+05/14 22:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.321, -0.026, -0.010)	[env.py: 1079]
+05/14 22:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.5 deg	[env.py: 1082]
+05/14 22:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.091m	[env.py: 1086]
+05/14 22:50:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:50:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:50:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:50:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:50:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:50:36 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:50:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:50:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:50:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:50:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:50:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.618s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:50:38 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:50:40 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:50:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:50:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:50:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:50:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:50:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:50:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:50:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:50:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:50:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:50:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:50:40 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 22:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065217m	[env.py: 870]
+05/14 22:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:50:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18749 free points within sampling radius	[env.py: 907]
+05/14 22:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.15579576 -1.2692736   0.06521725] yaw=154.1deg	[env.py: 1019]
+05/14 22:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 156.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.26829459 -0.03005487  0.06521725] yaw=-120.2deg	[env.py: 1019]
+05/14 22:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.0112446  -1.31380029  0.06521725] yaw=173.0deg	[env.py: 1019]
+05/14 22:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:50:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=212.8ms, total=212.8ms	[env.py: 1075]
+05/14 22:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.156, -1.269, 0.065)	[env.py: 1079]
+05/14 22:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.1 deg	[env.py: 1082]
+05/14 22:50:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.024m	[env.py: 1086]
+05/14 22:50:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:50:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:50:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:50:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:50:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:50:41 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:50:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:50:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:50:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:50:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:50:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.966s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:50:44 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.580[m] 75.906[deg]	[grasp_sample.py: 539]
+05/14 22:50:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:50:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:50:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:50:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:51:00 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[pipeline.py: 1174]
+05/14 22:51:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_302 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/14 22:51:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:51:14 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:51:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:51:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[save_utils.py: 785]
+05/14 22:51:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_302 in 14.92s (batch: 4.50s, save: 10.42s)	[pipeline.py: 300]
+05/14 22:51:15 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.39s:
+  episode_total: mean=153.42s, total=153.42s, count=1, min=153420.7ms, max=153420.7ms
+  sensor_polling: mean=360.6ms, total=108.17s, count=300, min=287.6ms, max=738.4ms
+  save_trajectories: mean=10.42s, total=10.42s, count=1, min=10423.2ms, max=10423.2ms
+  physics_step: mean=19.4ms, total=5.83s, count=300, min=15.1ms, max=27.6ms
+  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4495.3ms, max=4495.3ms
+  task_sampling: mean=387.6ms, total=387.6ms, count=1, min=387.6ms, max=387.6ms
+  task_specific_sample: mean=379.3ms, total=379.3ms, count=1, min=379.3ms, max=379.3ms
+  scene_randomize: mean=6.5ms, total=6.5ms, count=1, min=6.5ms, max=6.5ms
+  mj_forward_sync: mean=476.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=57.4us, total=0.1ms, count=1, min=0.1ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:51:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:51:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:51:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:51:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:51:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:51:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:51:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:51:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:51:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:51:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:51:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.081m, effective arm-mount z=0.779m (base_body_z=-0.081m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.080938m	[env.py: 870]
+05/14 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:51:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.03293265 -1.04097092 -0.08093805] yaw=183.8deg	[env.py: 1019]
+05/14 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 129.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 147.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.22597474 -0.82668283 -0.08093805] yaw=150.7deg	[env.py: 1019]
+05/14 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.08268267 -0.67924654 -0.08093805] yaw=-192.2deg	[env.py: 1019]
+05/14 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:51:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=216.8ms, total=216.9ms	[env.py: 1075]
+05/14 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.033, -1.041, -0.081)	[env.py: 1079]
+05/14 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 183.8 deg	[env.py: 1082]
+05/14 22:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m	[env.py: 1086]
+05/14 22:51:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:51:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:51:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:51:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:51:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:51:18 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:51:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:51:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:51:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:51:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:51:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.514s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:51:20 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.645[m] 81.409[deg]	[grasp_sample.py: 539]
+05/14 22:51:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:51:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:51:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:51:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:51:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:51:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:51:30 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[pipeline.py: 1174]
+05/14 22:51:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_302 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/14 22:51:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:51:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:51:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:51:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[save_utils.py: 785]
+05/14 22:51:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_302 in 12.13s (batch: 3.70s, save: 8.43s)	[pipeline.py: 300]
+05/14 22:51:43 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.77s:
+  episode_total: mean=69.44s, total=138.89s, count=2, min=2731.4ms, max=136158.4ms
+  sensor_polling: mean=326.4ms, total=97.91s, count=300, min=292.4ms, max=590.9ms
+  save_trajectories: mean=8.43s, total=8.43s, count=1, min=8429.0ms, max=8429.0ms
+  physics_step: mean=20.9ms, total=6.26s, count=300, min=17.3ms, max=33.3ms
+  save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3696.0ms, max=3696.0ms
+  task_sampling: mean=385.0ms, total=770.0ms, count=2, min=362.1ms, max=407.9ms
+  task_specific_sample: mean=380.8ms, total=761.6ms, count=2, min=358.3ms, max=403.3ms
+  scene_randomize: mean=2.2ms, total=4.5ms, count=2, min=1.4ms, max=3.1ms
+  mj_forward_sync: mean=406.8us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=33.3us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:51:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:51:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:51:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:51:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:51:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:51:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:51:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:51:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:51:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:51:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:51:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.010m, effective arm-mount z=0.850m (base_body_z=-0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.009778m	[env.py: 870]
+05/14 22:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:51:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.18253522 -0.68201573 -0.00977844] yaw=-178.6deg	[env.py: 1019]
+05/14 22:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.1326923  -0.47354769 -0.00977844] yaw=-141.6deg	[env.py: 1019]
+05/14 22:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 167.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.04843431 -0.9689739  -0.00977844] yaw=143.4deg	[env.py: 1019]
+05/14 22:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:51:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=146.6ms, total=146.6ms	[env.py: 1075]
+05/14 22:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.183, -0.682, -0.010)	[env.py: 1079]
+05/14 22:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.6 deg	[env.py: 1082]
+05/14 22:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.902m	[env.py: 1086]
+05/14 22:51:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:51:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:51:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:51:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:51:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:51:45 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:51:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:51:45 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 22:51:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:51:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:51:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.609s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:51:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.490[m] 61.401[deg]	[grasp_sample.py: 539]
+05/14 22:51:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:51:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:51:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:52:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:52:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:52:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:52:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:52:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:52:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:24 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:52:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:52:28 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/14 22:52:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:52:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:52:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:52:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:52:31 INFO: [Worker 0] Feasibility-checked 84 grasps in 2.124s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:52:31 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.115[m] 0.707[deg]	[grasp_sample.py: 539]
+05/14 22:52:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:52:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:52:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:52:41 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[pipeline.py: 1174]
+05/14 22:52:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_302 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/14 22:52:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:52:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:52:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:52:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:52:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[save_utils.py: 785]
+05/14 22:52:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_302 in 10.76s (batch: 2.53s, save: 8.23s)	[pipeline.py: 300]
+05/14 22:52:52 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=3.09s:
+  episode_total: mean=74.35s, total=371.75s, count=5, min=2348.8ms, max=131276.2ms
+  sensor_polling: mean=319.0ms, total=276.92s, count=868, min=279.6ms, max=803.5ms
+  physics_step: mean=20.2ms, total=17.53s, count=868, min=13.5ms, max=31.3ms
+  save_trajectories: mean=8.23s, total=8.23s, count=1, min=8231.2ms, max=8231.2ms
+  task_sampling: mean=618.2ms, total=3.09s, count=5, min=411.1ms, max=802.0ms
+  task_specific_sample: mean=614.5ms, total=3.07s, count=5, min=407.3ms, max=797.8ms
+  save_batch_prep: mean=2.53s, total=2.53s, count=1, min=2529.6ms, max=2529.6ms
+  scene_randomize: mean=1.8ms, total=9.2ms, count=5, min=1.2ms, max=2.7ms
+  mj_forward_sync: mean=443.2us, total=2.2ms, count=5, min=0.4ms, max=0.6ms
+  policy_setup: mean=25.0us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:52:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:52:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:52:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:52:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:52:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:52:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:52:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:52:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:52:53 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 22:52:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:52:53 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 22:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.041880m	[env.py: 870]
+05/14 22:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:52:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18749 free points within sampling radius	[env.py: 907]
+05/14 22:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.15730455 -0.4442424  -0.04188026] yaw=-167.1deg	[env.py: 1019]
+05/14 22:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.08002644 -0.85273163 -0.04188026] yaw=182.8deg	[env.py: 1019]
+05/14 22:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.05822421 -1.28646964 -0.04188026] yaw=149.0deg	[env.py: 1019]
+05/14 22:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:52:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.7ms, total=158.8ms	[env.py: 1075]
+05/14 22:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.157, -0.444, -0.042)	[env.py: 1079]
+05/14 22:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.1 deg	[env.py: 1082]
+05/14 22:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m	[env.py: 1086]
+05/14 22:52:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:52:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:52:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:52:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:52:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:52:53 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:52:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:52:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:52:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:52:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:52:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.641s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:52:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.728[m] 110.909[deg]	[grasp_sample.py: 539]
+05/14 22:52:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:52:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:52:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:52:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:52:56 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 22:53:29 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/14 22:53:29 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=False episode_total=0.44s:
+  episode_total: mean=131.99s, total=131.99s, count=1, min=131990.2ms, max=131990.2ms
+  sensor_polling: mean=391.2ms, total=117.35s, count=300, min=289.8ms, max=655.4ms
+  physics_step: mean=22.4ms, total=6.71s, count=300, min=13.1ms, max=55.3ms
+  task_sampling: mean=437.9ms, total=437.9ms, count=1, min=437.9ms, max=437.9ms
+  task_specific_sample: mean=433.7ms, total=433.7ms, count=1, min=433.7ms, max=433.7ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=401.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=42.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:53:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:53:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:53:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:53:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:53:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:53:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:53:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:53:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:53:31 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 22:53:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:53:31 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 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.001194m	[env.py: 870]
+05/14 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:53:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.12617778 -0.48606572 -0.00119398] yaw=-173.4deg	[env.py: 1019]
+05/14 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 149.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.23553429 -0.23687991 -0.00119398] yaw=-143.9deg	[env.py: 1019]
+05/14 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.20024444 -0.14202925 -0.00119398] yaw=-130.2deg	[env.py: 1019]
+05/14 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:53:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.5ms, total=133.6ms	[env.py: 1075]
+05/14 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.126, -0.486, -0.001)	[env.py: 1079]
+05/14 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.4 deg	[env.py: 1082]
+05/14 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.004m	[env.py: 1086]
+05/14 22:53:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:53:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:53:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:53:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:53:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:53:31 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:53:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:53:31 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 22:53:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:53:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:53:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.184s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:53:34 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.640[m] 61.073[deg]	[grasp_sample.py: 539]
+05/14 22:53:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:53:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:53:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:53:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:53:35 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:53:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:53:52 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[pipeline.py: 1174]
+05/14 22:53:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_302 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/14 22:53:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:53:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:53:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:54:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:54:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[save_utils.py: 785]
+05/14 22:54:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_302 in 12.53s (batch: 3.86s, save: 8.67s)	[pipeline.py: 300]
+05/14 22:54:05 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.36s:
+  episode_total: mean=140.14s, total=140.14s, count=1, min=140136.0ms, max=140136.0ms
+  sensor_polling: mean=331.2ms, total=99.37s, count=300, min=292.3ms, max=714.0ms
+  save_trajectories: mean=8.67s, total=8.67s, count=1, min=8667.7ms, max=8667.7ms
+  physics_step: mean=19.9ms, total=5.96s, count=300, min=13.4ms, max=29.2ms
+  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3862.6ms, max=3862.6ms
+  task_sampling: mean=358.3ms, total=358.3ms, count=1, min=358.3ms, max=358.3ms
+  task_specific_sample: mean=354.3ms, total=354.3ms, count=1, min=354.3ms, max=354.3ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=399.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=39.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:54:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:54:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:54:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:54:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:54:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:54:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:54:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:54:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:54:07 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 22:54:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:54:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.064m, effective arm-mount z=0.796m (base_body_z=-0.064m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.064131m	[env.py: 870]
+05/14 22:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:54:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.01193055 -0.35184986 -0.06413134] yaw=-184.6deg	[env.py: 1019]
+05/14 22:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.2095523  -1.14704294 -0.06413134] yaw=147.0deg	[env.py: 1019]
+05/14 22:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.00872606 -1.31290006 -0.06413134] yaw=160.2deg	[env.py: 1019]
+05/14 22:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:54:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=184.5ms, total=184.6ms	[env.py: 1075]
+05/14 22:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.012, -0.352, -0.064)	[env.py: 1079]
+05/14 22:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -184.6 deg	[env.py: 1082]
+05/14 22:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.181m	[env.py: 1086]
+05/14 22:54:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:54:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:54:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:54:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:54:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:54:07 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:54:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:54:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:54:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:54:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:54:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.870s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:54:09 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:54:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:54:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:54:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:54:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:54:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:54:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:54:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:54:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:54:11 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 22:54:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:54:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039035m	[env.py: 870]
+05/14 22:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:54:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.00428201 -0.54195128  0.03903482] yaw=-182.8deg	[env.py: 1019]
+05/14 22:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 134.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:54:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=166.3ms, total=166.3ms	[env.py: 1075]
+05/14 22:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.004, -0.542, 0.039)	[env.py: 1079]
+05/14 22:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -182.8 deg	[env.py: 1082]
+05/14 22:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.105m	[env.py: 1086]
+05/14 22:54:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:54:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:54:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:54:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:54:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:54:12 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:54:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:54:12 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 22:54:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:54:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:54:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.893s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:54:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.542[m] 78.383[deg]	[grasp_sample.py: 539]
+05/14 22:54:15 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 22:54:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:54:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:54:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:54:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:54:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:54:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:54:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:54:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:54:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:54:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:54:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046759m	[env.py: 870]
+05/14 22:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:54:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 126.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -168.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.02898488 -0.69245026  0.04675943] yaw=-185.7deg	[env.py: 1019]
+05/14 22:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.4342068  -0.27423164  0.04675943] yaw=-140.7deg	[env.py: 1019]
+05/14 22:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:54:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=207.4ms, total=207.4ms	[env.py: 1075]
+05/14 22:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.029, -0.692, 0.047)	[env.py: 1079]
+05/14 22:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -185.7 deg	[env.py: 1082]
+05/14 22:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.110m	[env.py: 1086]
+05/14 22:54:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:54:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:54:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:54:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:54:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:54:18 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:54:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:54:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:54:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:54:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:54:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.035s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:54:20 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.619[m] 79.890[deg]	[grasp_sample.py: 539]
+05/14 22:54:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:54:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:54:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:54:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:54:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:54:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:54:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:54:36 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:54:52 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[pipeline.py: 1174]
+05/14 22:54:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_302 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/14 22:54:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:55:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:55:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[save_utils.py: 785]
+05/14 22:55:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_302 in 11.78s (batch: 3.08s, save: 8.69s)	[pipeline.py: 300]
+05/14 22:55:04 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.35s:
+  episode_total: mean=131.42s, total=131.42s, count=1, min=131415.1ms, max=131415.1ms
+  sensor_polling: mean=310.0ms, total=92.99s, count=300, min=284.1ms, max=605.9ms
+  save_trajectories: mean=8.69s, total=8.69s, count=1, min=8692.3ms, max=8692.3ms
+  physics_step: mean=19.0ms, total=5.69s, count=300, min=13.3ms, max=25.4ms
+  save_batch_prep: mean=3.08s, total=3.08s, count=1, min=3083.1ms, max=3083.1ms
+  task_sampling: mean=354.0ms, total=354.0ms, count=1, min=354.0ms, max=354.0ms
+  task_specific_sample: mean=350.6ms, total=350.6ms, count=1, min=350.6ms, max=350.6ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=414.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:55:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:55:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:55:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:55:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:55:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:55:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:55:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:55:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:55:06 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 22:55:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:55:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.064m, effective arm-mount z=0.796m (base_body_z=-0.064m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.063535m	[env.py: 870]
+05/14 22:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:55:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18749 free points within sampling radius	[env.py: 907]
+05/14 22:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.21239007 -0.70422029 -0.06353457] yaw=-145.1deg	[env.py: 1019]
+05/14 22:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.24402314 -0.88637402 -0.06353457] yaw=172.3deg	[env.py: 1019]
+05/14 22:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.3211886  -0.26313271 -0.06353457] yaw=-137.1deg	[env.py: 1019]
+05/14 22:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:55:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=112.2ms, total=112.3ms	[env.py: 1075]
+05/14 22:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.212, -0.704, -0.064)	[env.py: 1079]
+05/14 22:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.1 deg	[env.py: 1082]
+05/14 22:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.869m	[env.py: 1086]
+05/14 22:55:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:55:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:55:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:55:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:55:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:55:06 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:55:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:55:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:55:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:55:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:55:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.607s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:55:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.595[m] 105.275[deg]	[grasp_sample.py: 539]
+05/14 22:55:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:55:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:55:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:55:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:55:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:55:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:55:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:55:28 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:55:45 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[pipeline.py: 1174]
+05/14 22:55:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_302 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/14 22:55:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:55:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:55:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:55:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:55:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:55:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[save_utils.py: 785]
+05/14 22:55:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_302 in 13.96s (batch: 3.85s, save: 10.11s)	[pipeline.py: 300]
+05/14 22:56:00 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.34s:
+  episode_total: mean=149.17s, total=149.17s, count=1, min=149169.3ms, max=149169.3ms
+  sensor_polling: mean=352.4ms, total=105.73s, count=300, min=274.9ms, max=666.1ms
+  save_trajectories: mean=10.11s, total=10.11s, count=1, min=10111.6ms, max=10111.6ms
+  physics_step: mean=20.9ms, total=6.26s, count=300, min=14.4ms, max=52.5ms
+  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3853.3ms, max=3853.3ms
+  task_sampling: mean=335.5ms, total=335.5ms, count=1, min=335.5ms, max=335.5ms
+  task_specific_sample: mean=331.8ms, total=331.8ms, count=1, min=331.8ms, max=331.8ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=397.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=25.2us, 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 22:56:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:56:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:56:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:56:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:56:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:56:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:56:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:56:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:56:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:56:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:56:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.090m, effective arm-mount z=0.770m (base_body_z=-0.090m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.089726m	[env.py: 870]
+05/14 22:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:56:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.03979699 -1.21890624 -0.08972556] yaw=183.0deg	[env.py: 1019]
+05/14 22:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 138.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.39955618 -0.07036075 -0.08972556] yaw=-117.8deg	[env.py: 1019]
+05/14 22:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:56:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=192.8ms, total=192.9ms	[env.py: 1075]
+05/14 22:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.040, -1.219, -0.090)	[env.py: 1079]
+05/14 22:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 183.0 deg	[env.py: 1082]
+05/14 22:56:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.110m	[env.py: 1086]
+05/14 22:56:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:56:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:56:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:56:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:56:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:56:02 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:56:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:56:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:56:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:56:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:56:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.094s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:56:07 INFO: [Worker 0] Feasible grasp found 226 (originally 111): w/ 0.700[m] 70.283[deg]	[grasp_sample.py: 539]
+05/14 22:56:08 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 22:56:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:56:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:56:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:56:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:56:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:56:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:56:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:56:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:56:10 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 22:56:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:56:10 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 22:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.000987m	[env.py: 870]
+05/14 22:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:56:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-2.04778960e-01 -1.24761265e+00 -9.87487670e-04] yaw=174.9deg	[env.py: 1019]
+05/14 22:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.08240265 -0.537923   -0.00098749] yaw=-158.5deg	[env.py: 1019]
+05/14 22:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 119.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 148.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.28095536 -0.03974856 -0.00098749] yaw=-117.5deg	[env.py: 1019]
+05/14 22:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:56:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=116.2ms, total=116.3ms	[env.py: 1075]
+05/14 22:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.205, -1.248, -0.001)	[env.py: 1079]
+05/14 22:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.9 deg	[env.py: 1082]
+05/14 22:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m	[env.py: 1086]
+05/14 22:56:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:56:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:56:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:56:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:56:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:56:11 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:56:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:56:11 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 22:56:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:56:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:56:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.720s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:56:12 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.581[m] 109.692[deg]	[grasp_sample.py: 539]
+05/14 22:56:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:56:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:56:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:56:13 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 22:56:27 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:56:47 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[pipeline.py: 1174]
+05/14 22:56:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_302 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/14 22:56:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:56:50 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:56:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:57:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:57:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[save_utils.py: 785]
+05/14 22:57:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_302 in 13.31s (batch: 4.17s, save: 9.14s)	[pipeline.py: 300]
+05/14 22:57:01 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.27s:
+  episode_total: mean=56.44s, total=169.31s, count=3, min=2448.0ms, max=163108.4ms
+  sensor_polling: mean=392.8ms, total=117.84s, count=300, min=298.6ms, max=779.9ms
+  save_trajectories: mean=9.14s, total=9.14s, count=1, min=9143.0ms, max=9143.0ms
+  physics_step: mean=22.2ms, total=6.67s, count=300, min=17.5ms, max=31.5ms
+  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4169.1ms, max=4169.1ms
+  task_sampling: mean=422.3ms, total=1.27s, count=3, min=369.4ms, max=480.7ms
+  task_specific_sample: mean=416.7ms, total=1.25s, count=3, min=365.7ms, max=473.0ms
+  scene_randomize: mean=2.9ms, total=8.6ms, count=3, min=1.4ms, max=4.1ms
+  mj_forward_sync: mean=509.7us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=21.9us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:57:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:57:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:57:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:57:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:57:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:57:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:57:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:57:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:57:02 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 22:57:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:57:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.080m, effective arm-mount z=0.780m (base_body_z=-0.080m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.079981m	[env.py: 870]
+05/14 22:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:57:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.36088156 -0.15757494 -0.07998124] yaw=-157.6deg	[env.py: 1019]
+05/14 22:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.03960825 -0.81297443 -0.07998124] yaw=-191.1deg	[env.py: 1019]
+05/14 22:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.32752863  0.09157127 -0.07998124] yaw=-115.3deg	[env.py: 1019]
+05/14 22:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:57:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=194.3ms, total=194.4ms	[env.py: 1075]
+05/14 22:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.361, -0.158, -0.080)	[env.py: 1079]
+05/14 22:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.6 deg	[env.py: 1082]
+05/14 22:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m	[env.py: 1086]
+05/14 22:57:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:57:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:57:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:57:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:57:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:57:02 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:57:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:57:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:57:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:57:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:57:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.017s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:57:05 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.495[m] 99.086[deg]	[grasp_sample.py: 539]
+05/14 22:57:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:57:06 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 22:57:07 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[pipeline.py: 1174]
+05/14 22:57:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_302 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/14 22:57:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:57:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:57:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:57:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:57:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:57:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:57:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:57:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:57:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:57:07 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 22:57:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:57:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015700m	[env.py: 870]
+05/14 22:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:57:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.45103969 -0.15431979  0.01569983] yaw=-157.7deg	[env.py: 1019]
+05/14 22:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.08781561 -0.84469943  0.01569983] yaw=197.5deg	[env.py: 1019]
+05/14 22:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:57:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=252.2ms, total=252.2ms	[env.py: 1075]
+05/14 22:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.451, -0.154, 0.016)	[env.py: 1079]
+05/14 22:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.7 deg	[env.py: 1082]
+05/14 22:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m	[env.py: 1086]
+05/14 22:57:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:57:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:57:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:57:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:57:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:57:08 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:57:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:57:08 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 22:57:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:57:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:57:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:57:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.817s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:57:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.664[m] 107.686[deg]	[grasp_sample.py: 539]
+05/14 22:57:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:57:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:57:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:57:10 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 22:57:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:57:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[save_utils.py: 785]
+05/14 22:57:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_302 in 13.64s (batch: 3.40s, save: 10.24s)	[pipeline.py: 300]
+05/14 22:57:21 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.34s:
+  episode_total: mean=135.48s, total=135.48s, count=1, min=135485.0ms, max=135485.0ms
+  sensor_polling: mean=316.0ms, total=94.81s, count=300, min=288.7ms, max=641.2ms
+  save_trajectories: mean=10.24s, total=10.24s, count=1, min=10237.7ms, max=10237.7ms
+  physics_step: mean=20.0ms, total=6.00s, count=300, min=13.4ms, max=32.9ms
+  save_batch_prep: mean=3.40s, total=3.40s, count=1, min=3404.0ms, max=3404.0ms
+  task_sampling: mean=344.4ms, total=344.4ms, count=1, min=344.4ms, max=344.4ms
+  task_specific_sample: mean=341.2ms, total=341.2ms, count=1, min=341.2ms, max=341.2ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=337.1us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=13.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:57:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:57:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:57:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:57:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:57:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:57:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:57:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:57:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:57:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:57:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:57:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004955m	[env.py: 870]
+05/14 22:57:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:57:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18749 free points within sampling radius	[env.py: 907]
+05/14 22:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 139.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 124.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 167.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:57:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=480.3ms, total=480.3ms	[env.py: 1105]
+05/14 22:57:23 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 302]
+05/14 22:57:23 ERROR: [Worker 0] Worker 0 house 1 episode 13 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/14 22:57:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:57:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:57:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:57:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:57:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:57:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:57:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:57:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:57:24 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 22:57:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:57:24 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 22:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048313m	[env.py: 870]
+05/14 22:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:57:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18749 free points within sampling radius	[env.py: 907]
+05/14 22:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.11482198 -0.81460797  0.04831264] yaw=-196.2deg	[env.py: 1019]
+05/14 22:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.12662005 -0.87955217  0.04831264] yaw=163.4deg	[env.py: 1019]
+05/14 22:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.02613035 -1.21532394  0.04831264] yaw=166.2deg	[env.py: 1019]
+05/14 22:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:57:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=430.6ms, total=430.6ms	[env.py: 1075]
+05/14 22:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.115, -0.815, 0.048)	[env.py: 1079]
+05/14 22:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -196.2 deg	[env.py: 1082]
+05/14 22:57:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.189m	[env.py: 1086]
+05/14 22:57:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:57:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:57:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:57:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:57:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:57:25 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:57:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:57:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:57:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:57:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:57:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.992s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:57:27 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:57:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:57:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:57:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:57:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:57:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:57:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:57:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:57:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:57:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:57:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:57:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.100m, effective arm-mount z=0.960m (base_body_z=0.100m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099683m	[env.py: 870]
+05/14 22:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:57:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18749 free points within sampling radius	[env.py: 907]
+05/14 22:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:57:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.35999028 -0.41694942  0.09968298] yaw=-173.2deg	[env.py: 1019]
+05/14 22:57:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:57:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 145.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:57:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:57:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.29790247 -1.18097223  0.09968298] yaw=131.7deg	[env.py: 1019]
+05/14 22:57:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:57:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:57:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=432.4ms, total=432.4ms	[env.py: 1075]
+05/14 22:57:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.360, -0.417, 0.100)	[env.py: 1079]
+05/14 22:57:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.2 deg	[env.py: 1082]
+05/14 22:57:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m	[env.py: 1086]
+05/14 22:57:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:57:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:57:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:57:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:57:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:57:29 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:57:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:57:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:57:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:57:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:57:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.761s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:57:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.360[m] 74.020[deg]	[grasp_sample.py: 539]
+05/14 22:57:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:57:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:57:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:57:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:57:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:58:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:58:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:58:09 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:58:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:58:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:58:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:58:26 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[pipeline.py: 1174]
+05/14 22:58:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_302 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/14 22:58:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:58:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:58:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[save_utils.py: 785]
+05/14 22:58:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_302 in 12.06s (batch: 3.44s, save: 8.61s)	[pipeline.py: 300]
+05/14 22:58:39 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.70s:
+  episode_total: mean=77.51s, total=155.02s, count=2, min=6621.4ms, max=148401.1ms
+  sensor_polling: mean=356.2ms, total=106.85s, count=300, min=294.6ms, max=673.4ms
+  save_trajectories: mean=8.61s, total=8.61s, count=1, min=8614.9ms, max=8614.9ms
+  physics_step: mean=21.0ms, total=6.31s, count=300, min=13.9ms, max=29.9ms
+  save_batch_prep: mean=3.44s, total=3.44s, count=1, min=3445.0ms, max=3445.0ms
+  task_sampling: mean=352.4ms, total=704.7ms, count=2, min=305.9ms, max=398.8ms
+  task_specific_sample: mean=348.3ms, total=696.6ms, count=2, min=302.5ms, max=394.1ms
+  scene_randomize: mean=2.5ms, total=4.9ms, count=2, min=1.7ms, max=3.2ms
+  mj_forward_sync: mean=510.9us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=21.3us, 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 22:58:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:58:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:58:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:58:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:58:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:58:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:58:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:58:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:58:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:58:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:58:40 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 22:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.005271m	[env.py: 870]
+05/14 22:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:58:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.15045323 -0.61608348 -0.00527108] yaw=-165.9deg	[env.py: 1019]
+05/14 22:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 132.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 133.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.27237411 -0.37474935 -0.00527108] yaw=-139.3deg	[env.py: 1019]
+05/14 22:58:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.11294174 -0.85213918 -0.00527108] yaw=185.6deg	[env.py: 1019]
+05/14 22:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:58:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.7ms, total=131.8ms	[env.py: 1075]
+05/14 22:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.150, -0.616, -0.005)	[env.py: 1079]
+05/14 22:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.9 deg	[env.py: 1082]
+05/14 22:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m	[env.py: 1086]
+05/14 22:58:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:58:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:58:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:58:41 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:58:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:58:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:58:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:58:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:58:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.012s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:58:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.673[m] 62.432[deg]	[grasp_sample.py: 539]
+05/14 22:58:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:58:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:58:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:59:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:59:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:59:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:59:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:59:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:59:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:59:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:59:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:59:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:59:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:59:11 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 22:59:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:59:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:59:13 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.941s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:59:13 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.783[deg]	[grasp_sample.py: 539]
+05/14 22:59:14 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 22:59:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:59:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:59:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:59:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:59:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:59:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:59:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:59:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:59:16 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 22:59:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:59:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012488m	[env.py: 870]
+05/14 22:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:59:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.4915896  -0.13033776  0.01248758] yaw=-143.1deg	[env.py: 1019]
+05/14 22:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.07429007 -0.4770736   0.01248758] yaw=-147.7deg	[env.py: 1019]
+05/14 22:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.02808317 -0.71936624  0.01248758] yaw=-201.0deg	[env.py: 1019]
+05/14 22:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:59:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=188.6ms, total=188.7ms	[env.py: 1075]
+05/14 22:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.492, -0.130, 0.012)	[env.py: 1079]
+05/14 22:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.1 deg	[env.py: 1082]
+05/14 22:59:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m	[env.py: 1086]
+05/14 22:59:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:59:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:59:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:59:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:59:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:59:16 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:59:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:59:16 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 22:59:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:59:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:59:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.868s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:59:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.516[m] 96.271[deg]	[grasp_sample.py: 539]
+05/14 22:59:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:59:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:59:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:59:28 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:59:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:59:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:59:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:59:46 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[pipeline.py: 1174]
+05/14 22:59:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_302 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/14 22:59:46 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
+05/14 22:59:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:00:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:00:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[save_utils.py: 785]
+05/14 23:00:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_302 in 14.45s (batch: 3.39s, save: 11.06s)	[pipeline.py: 300]
+05/14 23:00:01 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.29s:
+  episode_total: mean=51.80s, total=155.41s, count=3, min=497.7ms, max=152104.0ms
+  sensor_polling: mean=372.2ms, total=109.05s, count=293, min=296.7ms, max=732.0ms
+  save_trajectories: mean=11.06s, total=11.06s, count=1, min=11056.5ms, max=11056.5ms
+  physics_step: mean=23.0ms, total=6.73s, count=293, min=18.2ms, max=31.7ms
+  save_batch_prep: mean=3.39s, total=3.39s, count=1, min=3393.5ms, max=3393.5ms
+  task_specific_sample: mean=589.3ms, total=1.77s, count=3, min=485.8ms, max=643.7ms
+  task_sampling: mean=643.9ms, total=1.29s, count=2, min=641.4ms, max=646.3ms
+  task_sampling_failed: mean=497.7ms, total=497.7ms, count=1, min=497.7ms, max=497.7ms
+  scene_randomize: mean=1.5ms, total=4.6ms, count=3, min=0.9ms, max=2.0ms
+  mj_forward_sync: mean=344.4us, total=1.0ms, count=3, min=0.3ms, max=0.4ms
+  policy_setup: mean=15.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:00:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:00:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:00:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:00:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:00:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:00:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:00:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:00:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:00:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:00:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:00:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.082m, effective arm-mount z=0.778m (base_body_z=-0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.082018m	[env.py: 870]
+05/14 23:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:00:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18749 free points within sampling radius	[env.py: 907]
+05/14 23:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 131.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.09438661 -0.98750805 -0.08201775] yaw=189.2deg	[env.py: 1019]
+05/14 23:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:00:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=368.0ms, total=368.1ms	[env.py: 1075]
+05/14 23:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.094, -0.988, -0.082)	[env.py: 1079]
+05/14 23:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 189.2 deg	[env.py: 1082]
+05/14 23:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m	[env.py: 1086]
+05/14 23:00:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:00:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:00:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:00:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:00:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:00:03 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:00:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:00:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:00:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:00:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:00:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.609s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:00:04 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.553[m] 52.528[deg]	[grasp_sample.py: 539]
+05/14 23:00:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:00:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:00:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:00:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:00:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:00:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:00:34 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:00:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:00:52 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[pipeline.py: 1174]
+05/14 23:00:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_302 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/14 23:00:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:00:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:00:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:00:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:00:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:01:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:01:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:01:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:01:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:01:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:01:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[save_utils.py: 785]
+05/14 23:01:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_302 in 12.08s (batch: 3.55s, save: 8.54s)	[pipeline.py: 300]
+05/14 23:01:04 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.33s:
+  episode_total: mean=144.01s, total=144.01s, count=1, min=144014.5ms, max=144014.5ms
+  sensor_polling: mean=344.3ms, total=103.28s, count=300, min=278.2ms, max=636.6ms
+  save_trajectories: mean=8.54s, total=8.54s, count=1, min=8536.7ms, max=8536.7ms
+  physics_step: mean=19.9ms, total=5.96s, count=300, min=13.9ms, max=26.3ms
+  save_batch_prep: mean=3.55s, total=3.55s, count=1, min=3546.4ms, max=3546.4ms
+  task_sampling: mean=330.2ms, total=330.2ms, count=1, min=330.2ms, max=330.2ms
+  task_specific_sample: mean=326.6ms, total=326.6ms, count=1, min=326.6ms, max=326.6ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=415.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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 23:01:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:01:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:01:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:01:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:01:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:01:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:01:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:01:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:01:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:01:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:01:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:01:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:01:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:01:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:01:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:01:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:01:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:01:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:01:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:01:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:01:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003265m	[env.py: 870]
+05/14 23:01:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:01:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:01:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:01:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:01:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:01:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.0509399  -0.75592818  0.00326524] yaw=-156.6deg	[env.py: 1019]
+05/14 23:01:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:01:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -155.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:01:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -81.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:01:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.39486557 -0.24094126  0.00326524] yaw=-118.9deg	[env.py: 1019]
+05/14 23:01:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:01:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=195.2ms, total=195.2ms	[env.py: 1075]
+05/14 23:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.051, -0.756, 0.003)	[env.py: 1079]
+05/14 23:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.6 deg	[env.py: 1082]
+05/14 23:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.127m	[env.py: 1086]
+05/14 23:01:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:01:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:01:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:01:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:01:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:01:07 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:01:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:01:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:01:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:01:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:01:08 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.091s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:01:08 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:01:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.109s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:01:09 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:01:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:01:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:01:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:01:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:01:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:01:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:01:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:01:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:01:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:01:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:01:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020523m	[env.py: 870]
+05/14 23:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:01:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.06540847 -0.70910734  0.02052315] yaw=-199.8deg	[env.py: 1019]
+05/14 23:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.24472608 -0.15657728  0.02052315] yaw=-163.9deg	[env.py: 1019]
+05/14 23:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 154.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.26538156 -0.57355067  0.02052315] yaw=-173.3deg	[env.py: 1019]
+05/14 23:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:01:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=372.6ms, total=372.6ms	[env.py: 1075]
+05/14 23:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.065, -0.709, 0.021)	[env.py: 1079]
+05/14 23:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -199.8 deg	[env.py: 1082]
+05/14 23:01:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.145m	[env.py: 1086]
+05/14 23:01:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:01:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:01:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:01:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:01:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:01:10 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:01:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:01:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:01:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:01:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:01:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:01:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:01:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:01:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:01:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:01:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:01:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:01:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:01:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:01:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:01:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.016m, effective arm-mount z=0.844m (base_body_z=-0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.016194m	[env.py: 870]
+05/14 23:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:01:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 138.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.21460479 -1.17532136 -0.01619354] yaw=161.7deg	[env.py: 1019]
+05/14 23:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.28056212 -0.92758717 -0.01619354] yaw=176.3deg	[env.py: 1019]
+05/14 23:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.33132562 -0.45909491 -0.01619354] yaw=-145.8deg	[env.py: 1019]
+05/14 23:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:01:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=148.1ms, total=148.1ms	[env.py: 1075]
+05/14 23:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.215, -1.175, -0.016)	[env.py: 1079]
+05/14 23:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.7 deg	[env.py: 1082]
+05/14 23:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m	[env.py: 1086]
+05/14 23:01:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:01:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:01:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:01:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:01:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:01:11 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:01:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:01:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:01:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:01:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:01:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.934s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:01:12 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.609[m] 122.589[deg]	[grasp_sample.py: 539]
+05/14 23:01:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:01:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.167s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:01:13 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:01:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:01:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:01:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:01:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:01:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:01:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:01:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:01:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:01:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:01:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:01:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:01:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:01:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:01:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.036m, effective arm-mount z=0.824m (base_body_z=-0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.036329m	[env.py: 870]
+05/14 23:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:01:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 153.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.16708929 -1.09394671 -0.03632865] yaw=158.0deg	[env.py: 1019]
+05/14 23:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.1302879  -0.20738721 -0.03632865] yaw=-161.0deg	[env.py: 1019]
+05/14 23:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:01:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=414.3ms, total=414.4ms	[env.py: 1075]
+05/14 23:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.167, -1.094, -0.036)	[env.py: 1079]
+05/14 23:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.0 deg	[env.py: 1082]
+05/14 23:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.949m	[env.py: 1086]
+05/14 23:01:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:01:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:01:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:01:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:01:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:01:15 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:01:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:01:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:01:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:01:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:01:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.914s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:01:17 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.745[m] 95.489[deg]	[grasp_sample.py: 539]
+05/14 23:01:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:01:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:01:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:01:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:02:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:02:10 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:02:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:02:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:02:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:02:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:02:29 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[pipeline.py: 1174]
+05/14 23:02:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_302 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/14 23:02:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:02:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:02:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:02:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[save_utils.py: 785]
+05/14 23:02:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_302 in 11.60s (batch: 3.45s, save: 8.16s)	[pipeline.py: 300]
+05/14 23:02:41 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.60s:
+  episode_total: mean=159.03s, total=159.03s, count=1, min=159025.7ms, max=159025.7ms
+  sensor_polling: mean=383.6ms, total=115.07s, count=300, min=295.4ms, max=623.2ms
+  save_trajectories: mean=8.16s, total=8.16s, count=1, min=8155.4ms, max=8155.4ms
+  physics_step: mean=23.8ms, total=7.14s, count=300, min=17.4ms, max=87.7ms
+  save_batch_prep: mean=3.45s, total=3.45s, count=1, min=3445.5ms, max=3445.5ms
+  task_sampling: mean=600.9ms, total=600.9ms, count=1, min=600.9ms, max=600.9ms
+  task_specific_sample: mean=596.6ms, total=596.6ms, count=1, min=596.6ms, max=596.6ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=590.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:02:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:02:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:02:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:02:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:02:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:02:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:02:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:02:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:02:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:02:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:02:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025727m	[env.py: 870]
+05/14 23:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:02:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18749 free points within sampling radius	[env.py: 907]
+05/14 23:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.00174642 -1.31628236  0.02572713] yaw=163.5deg	[env.py: 1019]
+05/14 23:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.32288194  0.11251277  0.02572713] yaw=-109.0deg	[env.py: 1019]
+05/14 23:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 147.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.31523643 -0.49885804  0.02572713] yaw=-179.7deg	[env.py: 1019]
+05/14 23:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:02:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=262.2ms, total=262.2ms	[env.py: 1075]
+05/14 23:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.002, -1.316, 0.026)	[env.py: 1079]
+05/14 23:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.5 deg	[env.py: 1082]
+05/14 23:02:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.184m	[env.py: 1086]
+05/14 23:02:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:02:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:02:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:02:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:02:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:02:43 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:02:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:02:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:02:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:02:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:02:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.010s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:02:45 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:02:46 WARNING: [Worker 0] No trajectory data to save for chunk_302	[pipeline.py: 234]
+05/14 23:02:46 WARNING: [Worker 0] No trajectory data to save for chunk_302	[pipeline.py: 234]
+05/14 23:02:46 INFO: [Worker 0] Worker 0 completed house 1: 7/7 successful episodes	[pipeline.py: 1323]
+05/14 23:02:46 INFO: [Worker 0] [PROFILE] House 1 complete: 7/7 successful, 7 episodes, total_time=2613.82s
+  House averages:
+  episode_total: mean=79.14s, total=1424.49s, count=18, min=404.1ms, max=159025.7ms
+  sensor_polling: mean=345.1ms, total=1005.57s, count=2914, min=279.6ms, max=803.5ms
+  save_trajectories: mean=9.71s, total=67.98s, count=7, min=8155.4ms, max=11056.5ms
+  physics_step: mean=21.6ms, total=62.83s, count=2914, min=13.3ms, max=87.7ms
+  save_batch_prep: mean=3.26s, total=22.81s, count=7, min=2529.6ms, max=3668.2ms
+  task_sampling: mean=754.0ms, total=12.06s, count=16, min=329.9ms, max=3906.7ms
+  task_specific_sample: mean=547.8ms, total=9.86s, count=18, min=326.9ms, max=882.7ms
+  scene_load: mean=3.02s, total=3.02s, count=1, min=3021.0ms, max=3021.0ms
+  scene_env_create: mean=1.74s, total=1.74s, count=1, min=1739.9ms, max=1739.9ms
+  scene_compile: mean=1.15s, total=1.15s, count=1, min=1154.0ms, max=1154.0ms
+  task_sampling_failed: mean=450.9ms, total=901.8ms, count=2, min=404.1ms, max=497.7ms
+  compile_mujoco: mean=731.5ms, total=731.5ms, count=1, min=731.5ms, max=731.5ms
+  compile_xml_load: mean=345.6ms, total=345.6ms, count=1, min=345.6ms, max=345.6ms
+  scene_init: mean=75.5ms, total=75.5ms, count=1, min=75.5ms, max=75.5ms
+  scene_asset_install: mean=51.3ms, total=51.3ms, count=1, min=51.3ms, max=51.3ms
+  compile_aux_objects: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms
+  compile_aux_policy_objects: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms
+  asset_install_grasps: mean=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
+  scene_randomize: mean=1.8ms, total=32.7ms, count=18, min=0.9ms, max=2.8ms
+  compile_robot_add: mean=21.9ms, total=21.9ms, count=1, min=21.9ms, max=21.9ms
+  asset_install_objects: mean=10.0ms, total=10.0ms, count=1, min=10.0ms, max=10.0ms
+  mj_forward_sync: mean=429.6us, total=7.7ms, count=18, min=0.3ms, max=0.6ms
+  asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  policy_setup: mean=20.8us, total=0.3ms, count=16, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/14 23:02:46 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/14 23:02:46 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 7 episodes, total_time=2613.82s
+  Worker averages:
+  episode_total: mean=79.14s, total=1424.49s, count=18, min=404.1ms, max=159025.7ms
+  sensor_polling: mean=345.1ms, total=1005.57s, count=2914, min=279.6ms, max=803.5ms
+  save_trajectories: mean=9.71s, total=67.98s, count=7, min=8155.4ms, max=11056.5ms
+  physics_step: mean=21.6ms, total=62.83s, count=2914, min=13.3ms, max=87.7ms
+  save_batch_prep: mean=3.26s, total=22.81s, count=7, min=2529.6ms, max=3668.2ms
+  task_sampling: mean=754.0ms, total=12.06s, count=16, min=329.9ms, max=3906.7ms
+  task_specific_sample: mean=547.8ms, total=9.86s, count=18, min=326.9ms, max=882.7ms
+  scene_load: mean=3.02s, total=3.02s, count=1, min=3021.0ms, max=3021.0ms
+  scene_env_create: mean=1.74s, total=1.74s, count=1, min=1739.9ms, max=1739.9ms
+  scene_compile: mean=1.15s, total=1.15s, count=1, min=1154.0ms, max=1154.0ms
+  task_sampling_failed: mean=450.9ms, total=901.8ms, count=2, min=404.1ms, max=497.7ms
+  compile_mujoco: mean=731.5ms, total=731.5ms, count=1, min=731.5ms, max=731.5ms
+  compile_xml_load: mean=345.6ms, total=345.6ms, count=1, min=345.6ms, max=345.6ms
+  scene_init: mean=75.5ms, total=75.5ms, count=1, min=75.5ms, max=75.5ms
+  scene_asset_install: mean=51.3ms, total=51.3ms, count=1, min=51.3ms, max=51.3ms
+  compile_aux_objects: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms
+  compile_aux_policy_objects: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms
+  asset_install_grasps: mean=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
+  scene_randomize: mean=1.8ms, total=32.7ms, count=18, min=0.9ms, max=2.8ms
+  compile_robot_add: mean=21.9ms, total=21.9ms, count=1, min=21.9ms, max=21.9ms
+  asset_install_objects: mean=10.0ms, total=10.0ms, count=1, min=10.0ms, max=10.0ms
+  mj_forward_sync: mean=429.6us, total=7.7ms, count=18, min=0.3ms, max=0.6ms
+  asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  policy_setup: mean=20.8us, total=0.3ms, count=16, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/14 23:02:49 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/14 23:02:49 INFO: Success count: 7, Total count: 7	[pipeline.py: 1491]
+05/14 23:02:49 INFO: Success rate: 100.00%	[pipeline.py: 1492]
+05/14 23:03:14 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:03:17 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:03:32 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[pipeline.py: 1174]
+05/14 23:03:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_302 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/14 23:03:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:03:36 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[pipeline.py: 1174]
+05/14 23:03:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_302 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/14 23:03:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:03:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:03:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[save_utils.py: 785]
+05/14 23:03:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_302 in 11.19s (batch: 2.90s, save: 8.30s)	[pipeline.py: 300]
+05/14 23:03:44 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=2.51s:
+  episode_total: mean=78.99s, total=394.94s, count=5, min=2882.0ms, max=149452.5ms
+  sensor_polling: mean=374.9ms, total=306.33s, count=817, min=291.2ms, max=716.1ms
+  physics_step: mean=23.3ms, total=19.05s, count=817, min=17.4ms, max=123.0ms
+  save_trajectories: mean=8.30s, total=8.30s, count=1, min=8298.0ms, max=8298.0ms
+  save_batch_prep: mean=2.90s, total=2.90s, count=1, min=2896.1ms, max=2896.1ms
+  task_sampling: mean=502.3ms, total=2.51s, count=5, min=385.3ms, max=663.9ms
+  task_specific_sample: mean=497.7ms, total=2.49s, count=5, min=382.4ms, max=658.2ms
+  scene_randomize: mean=2.2ms, total=11.2ms, count=5, min=1.5ms, max=3.2ms
+  mj_forward_sync: mean=462.0us, total=2.3ms, count=5, min=0.4ms, max=0.6ms
+  policy_setup: mean=16.9us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:03:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:03:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:03:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:03:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:03:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:03:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:03:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:03:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:03:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:03:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:03:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.061m, effective arm-mount z=0.799m (base_body_z=-0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.061183m	[env.py: 870]
+05/14 23:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:03:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.53876526 -0.00206967 -0.06118288] yaw=-116.4deg	[env.py: 1019]
+05/14 23:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.21323757 -0.39636504 -0.06118288] yaw=-169.8deg	[env.py: 1019]
+05/14 23:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:03:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=301.0ms, total=301.0ms	[env.py: 1075]
+05/14 23:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.539, -0.002, -0.061)	[env.py: 1079]
+05/14 23:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -116.4 deg	[env.py: 1082]
+05/14 23:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m	[env.py: 1086]
+05/14 23:03:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:03:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:03:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:03:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:03:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:03:46 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:03:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:03:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:03:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:03:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:03:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.995s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:03:49 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.662[m] 101.842[deg]	[grasp_sample.py: 539]
+05/14 23:03:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:03:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:03:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:03:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:03:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:03:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[save_utils.py: 785]
+05/14 23:03:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_302 in 14.74s (batch: 5.12s, save: 9.62s)	[pipeline.py: 300]
+05/14 23:03:51 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.78s:
+  episode_total: mean=81.46s, total=162.93s, count=2, min=2706.0ms, max=160221.6ms
+  sensor_polling: mean=377.2ms, total=113.17s, count=300, min=286.5ms, max=708.5ms
+  save_trajectories: mean=9.62s, total=9.62s, count=1, min=9615.9ms, max=9615.9ms
+  physics_step: mean=21.1ms, total=6.34s, count=300, min=18.2ms, max=89.4ms
+  save_batch_prep: mean=5.12s, total=5.12s, count=1, min=5123.0ms, max=5123.0ms
+  task_sampling: mean=391.5ms, total=783.1ms, count=2, min=348.5ms, max=434.5ms
+  task_specific_sample: mean=387.9ms, total=775.9ms, count=2, min=345.6ms, max=430.2ms
+  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.1ms, max=2.8ms
+  mj_forward_sync: mean=441.3us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=22.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:03:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:03:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:03:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:03:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:03:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:03:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:03:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:03:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:03:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:03:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:03:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:03:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:03:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:03:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050696m	[env.py: 870]
+05/14 23:03:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:03:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:03:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.51158041 -0.00528098  0.05069618] yaw=-147.7deg	[env.py: 1019]
+05/14 23:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.03722617 -0.59529452  0.05069618] yaw=-191.0deg	[env.py: 1019]
+05/14 23:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.45768611  0.12405294  0.05069618] yaw=-150.7deg	[env.py: 1019]
+05/14 23:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:03:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=152.4ms, total=152.4ms	[env.py: 1075]
+05/14 23:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.512, -0.005, 0.051)	[env.py: 1079]
+05/14 23:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.7 deg	[env.py: 1082]
+05/14 23:03:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m	[env.py: 1086]
+05/14 23:03:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:03:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:03:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:03:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:03:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:03:54 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:03:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:03:54 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 23:03:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:03:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:03:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.244s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:03:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.585[m] 73.150[deg]	[grasp_sample.py: 539]
+05/14 23:03:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:03:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:03:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:04:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:04:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:04:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:04:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:04:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:04:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:04:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:04:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:04:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:04:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:04:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:05:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:05:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:05:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:05:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:05:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:06 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.108s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:05:06 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:05:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:05:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:05:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:05:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:05:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:05:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:05:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:05:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:05:07 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 23:05:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:05:07 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 23:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054758m	[env.py: 870]
+05/14 23:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:05:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.04829348 -0.52531479  0.05475827] yaw=-188.7deg	[env.py: 1019]
+05/14 23:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.05458983 -0.26274781  0.05475827] yaw=-137.2deg	[env.py: 1019]
+05/14 23:05:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.34388935 -0.30161667  0.05475827] yaw=-168.2deg	[env.py: 1019]
+05/14 23:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:05:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=278.1ms, total=278.2ms	[env.py: 1075]
+05/14 23:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.048, -0.525, 0.055)	[env.py: 1079]
+05/14 23:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -188.7 deg	[env.py: 1082]
+05/14 23:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.160m	[env.py: 1086]
+05/14 23:05:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:05:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:05:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:05:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:05:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:05:08 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:05:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:05:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:05:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:05:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:05:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.099s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:05:10 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:05:10 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 23:05:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:11 WARNING: [Worker 0] No trajectory data to save for chunk_302	[pipeline.py: 234]
+05/14 23:05:11 WARNING: [Worker 0] No trajectory data to save for chunk_302	[pipeline.py: 234]
+05/14 23:05:11 INFO: [Worker 0] Worker 0 completed house 1: 8/8 successful episodes	[pipeline.py: 1323]
+05/14 23:05:11 INFO: [Worker 0] [PROFILE] House 1 complete: 8/8 successful, 8 episodes, total_time=2868.96s
+  House averages:
+  episode_total: mean=86.83s, total=1562.96s, count=18, min=2448.0ms, max=195583.9ms
+  sensor_polling: mean=358.2ms, total=1112.84s, count=3107, min=284.5ms, max=779.9ms
+  save_trajectories: mean=8.59s, total=68.69s, count=8, min=8271.5ms, max=9143.0ms
+  physics_step: mean=21.9ms, total=68.07s, count=3107, min=13.4ms, max=123.0ms
+  save_batch_prep: mean=3.75s, total=29.96s, count=8, min=2896.1ms, max=5017.3ms
+  task_sampling: mean=626.3ms, total=11.27s, count=18, min=249.2ms, max=3727.8ms
+  task_specific_sample: mean=460.9ms, total=8.30s, count=18, min=246.2ms, max=827.7ms
+  scene_load: mean=2.90s, total=2.90s, count=1, min=2897.6ms, max=2897.6ms
+  scene_env_create: mean=1.82s, total=1.82s, count=1, min=1823.1ms, max=1823.1ms
+  scene_compile: mean=943.8ms, total=943.8ms, count=1, min=943.8ms, max=943.8ms
+  compile_mujoco: mean=662.5ms, total=662.5ms, count=1, min=662.5ms, max=662.5ms
+  compile_xml_load: mean=207.2ms, total=207.2ms, count=1, min=207.2ms, max=207.2ms
+  scene_init: mean=76.2ms, total=76.2ms, count=1, min=76.2ms, max=76.2ms
+  scene_asset_install: mean=54.2ms, total=54.2ms, count=1, min=54.2ms, max=54.2ms
+  scene_randomize: mean=2.4ms, total=43.2ms, count=18, min=1.1ms, max=4.5ms
+  compile_aux_objects: mean=42.6ms, total=42.6ms, count=1, min=42.6ms, max=42.6ms
+  compile_aux_policy_objects: mean=42.6ms, total=42.6ms, count=1, min=42.6ms, max=42.6ms
+  asset_install_grasps: mean=40.3ms, total=40.3ms, count=1, min=40.3ms, max=40.3ms
+  compile_robot_add: mean=21.8ms, total=21.8ms, count=1, min=21.8ms, max=21.8ms
+  asset_install_objects: mean=10.3ms, total=10.3ms, count=1, min=10.3ms, max=10.3ms
+  mj_forward_sync: mean=442.9us, total=8.0ms, 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=25.3us, total=0.5ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/14 23:05:11 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/14 23:05:11 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 8 episodes, total_time=2868.96s
+  Worker averages:
+  episode_total: mean=86.83s, total=1562.96s, count=18, min=2448.0ms, max=195583.9ms
+  sensor_polling: mean=358.2ms, total=1112.84s, count=3107, min=284.5ms, max=779.9ms
+  save_trajectories: mean=8.59s, total=68.69s, count=8, min=8271.5ms, max=9143.0ms
+  physics_step: mean=21.9ms, total=68.07s, count=3107, min=13.4ms, max=123.0ms
+  save_batch_prep: mean=3.75s, total=29.96s, count=8, min=2896.1ms, max=5017.3ms
+  task_sampling: mean=626.3ms, total=11.27s, count=18, min=249.2ms, max=3727.8ms
+  task_specific_sample: mean=460.9ms, total=8.30s, count=18, min=246.2ms, max=827.7ms
+  scene_load: mean=2.90s, total=2.90s, count=1, min=2897.6ms, max=2897.6ms
+  scene_env_create: mean=1.82s, total=1.82s, count=1, min=1823.1ms, max=1823.1ms
+  scene_compile: mean=943.8ms, total=943.8ms, count=1, min=943.8ms, max=943.8ms
+  compile_mujoco: mean=662.5ms, total=662.5ms, count=1, min=662.5ms, max=662.5ms
+  compile_xml_load: mean=207.2ms, total=207.2ms, count=1, min=207.2ms, max=207.2ms
+  scene_init: mean=76.2ms, total=76.2ms, count=1, min=76.2ms, max=76.2ms
+  scene_asset_install: mean=54.2ms, total=54.2ms, count=1, min=54.2ms, max=54.2ms
+  scene_randomize: mean=2.4ms, total=43.2ms, count=18, min=1.1ms, max=4.5ms
+  compile_aux_objects: mean=42.6ms, total=42.6ms, count=1, min=42.6ms, max=42.6ms
+  compile_aux_policy_objects: mean=42.6ms, total=42.6ms, count=1, min=42.6ms, max=42.6ms
+  asset_install_grasps: mean=40.3ms, total=40.3ms, count=1, min=40.3ms, max=40.3ms
+  compile_robot_add: mean=21.8ms, total=21.8ms, count=1, min=21.8ms, max=21.8ms
+  asset_install_objects: mean=10.3ms, total=10.3ms, count=1, min=10.3ms, max=10.3ms
+  mj_forward_sync: mean=442.9us, total=8.0ms, 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=25.3us, total=0.5ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/14 23:05:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:05:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:05:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:05:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:05:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:05:14 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/14 23:05:14 INFO: Success count: 8, Total count: 8	[pipeline.py: 1491]
+05/14 23:05:14 INFO: Success rate: 100.00%	[pipeline.py: 1492]
+05/14 23:05:15 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.195s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:05:15 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.109[m] 0.303[deg]	[grasp_sample.py: 539]
+05/14 23:05:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:05:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:05:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:05:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:05:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:05:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:05:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:05:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:05:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:05:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:05:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:05:49 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.429s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:05:49 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:05:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:05:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:05:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:05:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:05:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:05:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:05:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:05:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:05:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:05:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:05:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.017m, effective arm-mount z=0.843m (base_body_z=-0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.016652m	[env.py: 870]
+05/14 23:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:05:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.01077279 -0.83146795 -0.01665193] yaw=207.7deg	[env.py: 1019]
+05/14 23:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 159.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.11002705 -0.53284136 -0.01665193] yaw=-180.8deg	[env.py: 1019]
+05/14 23:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.04932255 -0.97872448 -0.01665193] yaw=181.6deg	[env.py: 1019]
+05/14 23:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:05:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.8ms, total=187.9ms	[env.py: 1075]
+05/14 23:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.011, -0.831, -0.017)	[env.py: 1079]
+05/14 23:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 207.7 deg	[env.py: 1082]
+05/14 23:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m	[env.py: 1086]
+05/14 23:05:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:05:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:05:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:05:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:05:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:05:51 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:05:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:05:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:05:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:05:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:05:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.483s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:05:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.628[m] 76.832[deg]	[grasp_sample.py: 539]
+05/14 23:05:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:05:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:05:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:06:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:06:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:06:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:07:44 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:08:00 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[pipeline.py: 1174]
+05/14 23:08:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_302 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/14 23:08:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:08:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:08:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[save_utils.py: 785]
+05/14 23:08:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_302 in 11.85s (batch: 3.29s, save: 8.55s)	[pipeline.py: 300]
+05/14 23:08:13 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.86s:
+  episode_total: mean=128.78s, total=257.57s, count=2, min=115135.4ms, max=142433.8ms
+  sensor_polling: mean=349.7ms, total=188.51s, count=539, min=270.2ms, max=831.0ms
+  physics_step: mean=18.6ms, total=10.05s, count=539, min=13.5ms, max=24.6ms
+  save_trajectories: mean=8.55s, total=8.55s, count=1, min=8552.4ms, max=8552.4ms
+  save_batch_prep: mean=3.29s, total=3.29s, count=1, min=3293.4ms, max=3293.4ms
+  task_sampling: mean=429.7ms, total=859.5ms, count=2, min=395.9ms, max=463.6ms
+  task_specific_sample: mean=425.2ms, total=850.4ms, count=2, min=391.3ms, max=459.0ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.6ms, max=2.9ms
+  mj_forward_sync: mean=392.7us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  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 23:08:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:08:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:08:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:08:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:08:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:08:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:08:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:08:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:08:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081270m	[env.py: 870]
+05/14 23:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:08:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.35884824 -0.355727    0.08126955] yaw=-133.2deg	[env.py: 1019]
+05/14 23:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.09414142 -1.3059189   0.08126955] yaw=142.7deg	[env.py: 1019]
+05/14 23:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.35381713  0.11052838  0.08126955] yaw=-153.1deg	[env.py: 1019]
+05/14 23:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:08:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.4ms, total=84.4ms	[env.py: 1075]
+05/14 23:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.359, -0.356, 0.081)	[env.py: 1079]
+05/14 23:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.2 deg	[env.py: 1082]
+05/14 23:08:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m	[env.py: 1086]
+05/14 23:08:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:08:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:08:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:08:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:08:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:08:15 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:08:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:08:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:08:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:08:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:08:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.931s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:08:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.536[m] 61.501[deg]	[grasp_sample.py: 539]
+05/14 23:08:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:08:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:08:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:08:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:08:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:09:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:09:58 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:10:15 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[pipeline.py: 1174]
+05/14 23:10:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_302 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/14 23:10:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:10:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:10:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[save_utils.py: 785]
+05/14 23:10:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_302 in 11.80s (batch: 3.35s, save: 8.45s)	[pipeline.py: 300]
+05/14 23:10:28 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.30s:
+  episode_total: mean=133.27s, total=133.27s, count=1, min=133265.1ms, max=133265.1ms
+  sensor_polling: mean=315.5ms, total=94.64s, count=300, min=275.2ms, max=663.1ms
+  save_trajectories: mean=8.45s, total=8.45s, count=1, min=8449.9ms, max=8449.9ms
+  physics_step: mean=18.5ms, total=5.56s, count=300, min=14.0ms, max=22.0ms
+  save_batch_prep: mean=3.35s, total=3.35s, count=1, min=3347.4ms, max=3347.4ms
+  task_sampling: mean=304.2ms, total=304.2ms, count=1, min=304.2ms, max=304.2ms
+  task_specific_sample: mean=300.4ms, total=300.4ms, count=1, min=300.4ms, max=300.4ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=359.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:10:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:10:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:10:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:10:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:10:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:10:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:10:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:10:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:10:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:10:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:10:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.027m, effective arm-mount z=0.833m (base_body_z=-0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.027457m	[env.py: 870]
+05/14 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:10:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 140.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.42378757  0.07142472 -0.02745661] yaw=-140.5deg	[env.py: 1019]
+05/14 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.27573855 -0.1032993  -0.02745661] yaw=-149.5deg	[env.py: 1019]
+05/14 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.10063405 -0.75071223 -0.02745661] yaw=-162.5deg	[env.py: 1019]
+05/14 23:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:10:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=148.6ms, total=148.7ms	[env.py: 1075]
+05/14 23:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.424, 0.071, -0.027)	[env.py: 1079]
+05/14 23:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.5 deg	[env.py: 1082]
+05/14 23:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.100m	[env.py: 1086]
+05/14 23:10:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:10:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:10:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:10:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:10:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:10:30 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:10:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:10:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:10:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:10:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:10:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.408s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:10:32 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:10:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:10:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:10:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:10:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:10:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:10:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:10:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:10:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:10:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:10:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:10:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.094m, effective arm-mount z=0.766m (base_body_z=-0.094m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.094356m	[env.py: 870]
+05/14 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:10:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 128.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.24407248 -0.68908327 -0.09435626] yaw=-162.5deg	[env.py: 1019]
+05/14 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.01138079 -0.9985793  -0.09435626] yaw=166.1deg	[env.py: 1019]
+05/14 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.01103017 -0.68260462 -0.09435626] yaw=-146.0deg	[env.py: 1019]
+05/14 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:10:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.8ms, total=147.8ms	[env.py: 1075]
+05/14 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.244, -0.689, -0.094)	[env.py: 1079]
+05/14 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.5 deg	[env.py: 1082]
+05/14 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m	[env.py: 1086]
+05/14 23:10:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:10:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:10:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:10:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:10:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:10:34 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:10:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:10:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:10:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:10:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:10:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.756s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:10:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.547[m] 104.240[deg]	[grasp_sample.py: 539]
+05/14 23:10:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:10:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:10:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:10:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:11:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:11:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:11:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:12:19 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:12:35 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[pipeline.py: 1174]
+05/14 23:12:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_302 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/14 23:12:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:12:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:12:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_302	[save_utils.py: 785]
+05/14 23:12:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_302 in 11.63s (batch: 3.21s, save: 8.42s)	[pipeline.py: 300]
+05/14 23:12:48 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.68s:
+  episode_total: mean=68.32s, total=136.65s, count=2, min=2902.9ms, max=133745.2ms
+  sensor_polling: mean=318.7ms, total=95.62s, count=300, min=274.4ms, max=734.7ms
+  save_trajectories: mean=8.42s, total=8.42s, count=1, min=8422.2ms, max=8422.2ms
+  physics_step: mean=18.8ms, total=5.63s, count=300, min=13.4ms, max=21.1ms
+  save_batch_prep: mean=3.21s, total=3.21s, count=1, min=3210.3ms, max=3210.3ms
+  task_sampling: mean=342.4ms, total=684.8ms, count=2, min=333.5ms, max=351.3ms
+  task_specific_sample: mean=339.0ms, total=678.0ms, count=2, min=330.2ms, max=347.8ms
+  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.2ms, max=2.2ms
+  mj_forward_sync: mean=388.4us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:12:49 WARNING: [Worker 0] No trajectory data to save for chunk_302	[pipeline.py: 234]
+05/14 23:12:49 WARNING: [Worker 0] No trajectory data to save for chunk_302	[pipeline.py: 234]
+05/14 23:12:49 INFO: [Worker 0] Worker 0 completed house 1: 11/13 successful episodes	[pipeline.py: 1323]
+05/14 23:12:49 INFO: [Worker 0] [PROFILE] House 1 complete: 11/13 successful, 13 episodes, total_time=3711.62s
+  House averages:
+  episode_total: mean=112.35s, total=2022.37s, count=18, min=1665.8ms, max=210472.3ms
+  sensor_polling: mean=363.8ms, total=1437.13s, count=3950, min=270.2ms, max=831.0ms
+  save_trajectories: mean=9.29s, total=102.23s, count=11, min=8422.2ms, max=10588.6ms
+  physics_step: mean=20.7ms, total=81.79s, count=3950, min=13.1ms, max=89.4ms
+  save_batch_prep: mean=3.97s, total=43.66s, count=11, min=3127.2ms, max=7015.1ms
+  task_sampling: mean=574.4ms, total=10.34s, count=18, min=304.2ms, max=3597.3ms
+  task_specific_sample: mean=416.1ms, total=7.49s, count=18, min=300.4ms, max=817.7ms
+  scene_load: mean=2.78s, total=2.78s, count=1, min=2777.1ms, max=2777.1ms
+  scene_env_create: mean=1.74s, total=1.74s, count=1, min=1737.4ms, max=1737.4ms
+  scene_compile: mean=916.6ms, total=916.6ms, count=1, min=916.6ms, max=916.6ms
+  compile_mujoco: mean=692.3ms, total=692.3ms, count=1, min=692.3ms, max=692.3ms
+  compile_xml_load: mean=144.6ms, total=144.6ms, count=1, min=144.6ms, max=144.6ms
+  scene_init: mean=77.3ms, total=77.3ms, count=1, min=77.3ms, max=77.3ms
+  compile_aux_objects: mean=62.3ms, total=62.3ms, count=1, min=62.3ms, max=62.3ms
+  compile_aux_policy_objects: mean=62.2ms, total=62.2ms, count=1, min=62.2ms, max=62.2ms
+  scene_asset_install: mean=45.5ms, total=45.5ms, count=1, min=45.5ms, max=45.5ms
+  scene_randomize: mean=2.3ms, total=40.8ms, count=18, min=1.0ms, max=6.5ms
+  asset_install_grasps: mean=31.3ms, total=31.3ms, count=1, min=31.3ms, max=31.3ms
+  asset_install_objects: mean=11.5ms, total=11.5ms, count=1, min=11.5ms, max=11.5ms
+  mj_forward_sync: mean=441.9us, total=8.0ms, count=18, min=0.4ms, max=0.7ms
+  compile_robot_add: mean=5.4ms, total=5.4ms, count=1, min=5.4ms, max=5.4ms
+  asset_install_scene: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  policy_setup: mean=24.3us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/14 23:12:49 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/14 23:12:49 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=3711.62s
+  Worker averages:
+  episode_total: mean=112.35s, total=2022.37s, count=18, min=1665.8ms, max=210472.3ms
+  sensor_polling: mean=363.8ms, total=1437.13s, count=3950, min=270.2ms, max=831.0ms
+  save_trajectories: mean=9.29s, total=102.23s, count=11, min=8422.2ms, max=10588.6ms
+  physics_step: mean=20.7ms, total=81.79s, count=3950, min=13.1ms, max=89.4ms
+  save_batch_prep: mean=3.97s, total=43.66s, count=11, min=3127.2ms, max=7015.1ms
+  task_sampling: mean=574.4ms, total=10.34s, count=18, min=304.2ms, max=3597.3ms
+  task_specific_sample: mean=416.1ms, total=7.49s, count=18, min=300.4ms, max=817.7ms
+  scene_load: mean=2.78s, total=2.78s, count=1, min=2777.1ms, max=2777.1ms
+  scene_env_create: mean=1.74s, total=1.74s, count=1, min=1737.4ms, max=1737.4ms
+  scene_compile: mean=916.6ms, total=916.6ms, count=1, min=916.6ms, max=916.6ms
+  compile_mujoco: mean=692.3ms, total=692.3ms, count=1, min=692.3ms, max=692.3ms
+  compile_xml_load: mean=144.6ms, total=144.6ms, count=1, min=144.6ms, max=144.6ms
+  scene_init: mean=77.3ms, total=77.3ms, count=1, min=77.3ms, max=77.3ms
+  compile_aux_objects: mean=62.3ms, total=62.3ms, count=1, min=62.3ms, max=62.3ms
+  compile_aux_policy_objects: mean=62.2ms, total=62.2ms, count=1, min=62.2ms, max=62.2ms
+  scene_asset_install: mean=45.5ms, total=45.5ms, count=1, min=45.5ms, max=45.5ms
+  scene_randomize: mean=2.3ms, total=40.8ms, count=18, min=1.0ms, max=6.5ms
+  asset_install_grasps: mean=31.3ms, total=31.3ms, count=1, min=31.3ms, max=31.3ms
+  asset_install_objects: mean=11.5ms, total=11.5ms, count=1, min=11.5ms, max=11.5ms
+  mj_forward_sync: mean=441.9us, total=8.0ms, count=18, min=0.4ms, max=0.7ms
+  compile_robot_add: mean=5.4ms, total=5.4ms, count=1, min=5.4ms, max=5.4ms
+  asset_install_scene: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  policy_setup: mean=24.3us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/14 23:12:52 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/14 23:12:52 INFO: Success count: 11, Total count: 13	[pipeline.py: 1491]
+05/14 23:12:52 INFO: Success rate: 84.62%	[pipeline.py: 1492]
diff --git a/fridge_m_v2/sim_chunks/chunk_302/trajectories_batch_1_of_3_cam_rand.h5 b/fridge_m_v2/sim_chunks/chunk_302/trajectories_batch_1_of_3_cam_rand.h5
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--- /dev/null
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diff --git a/fridge_m_v2/sim_chunks/chunk_302/trajectories_batch_2_of_3_cam_rand.h5 b/fridge_m_v2/sim_chunks/chunk_302/trajectories_batch_2_of_3_cam_rand.h5
new file mode 100644
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