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+05/18 15:42:55 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/18 15:42:55 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/18 15:42:55 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/18 15:42:55 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',
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+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
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+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
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+                                'name': 'exo_camera_1',
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+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
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+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
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+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_2house/sim_chunks/chunk_075'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
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+ 'policy_dt_ms': 66.0,
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+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
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+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
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+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
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+                  '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': 40075,
+ '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,
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+                 'tracked_object_names': None,
+                 'use_sensors': True},
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+ 'task_config_preset_exp': None,
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+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.1, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
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+                         'base_pose_sampling_radius_range': (0.85, 1.3),
+                         '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': [2],
+                         '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': 12,
+                         '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': 1,
+ '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]
+05/18 15:42:55 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]
+05/18 15:42:55 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/18 15:42:55 INFO: [Worker 0] Worker 0 starting house 2 (index 0/1)	[pipeline.py: 464]
+05/18 15:42:55 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/18 15:42:58 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan2_physics.xml	[task_sampler.py: 797]
+05/18 15:42:58 INFO: [Worker 0] Setting up scene for house 2, task None...	[pick_task_sampler.py: 197]
+05/18 15:42:58 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/18 15:42:58 INFO: [Worker 0] Resolving Fridge_7_upside_down_root grasp uid Fridge_m_2 -> Fridge_m via name_map	[pick_task_sampler.py: 917]
+05/18 15:42:58 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 947]
+05/18 15:42:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:42:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:42:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:42:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:42:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:42:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:42:58 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 15:42:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/18 15:42:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 15:42:58 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]
+05/18 15:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 15:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014510m	[env.py: 870]
+05/18 15:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 15:42:58 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/18 15:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 15:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.15171223 -0.87349591 -0.01450995] yaw=-166.8deg	[env.py: 1019]
+05/18 15:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 134.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.32331078 -0.17698155 -0.01450995] yaw=-143.3deg	[env.py: 1019]
+05/18 15:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 15:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 153.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.27112092 -0.09926203 -0.01450995] yaw=-157.7deg	[env.py: 1019]
+05/18 15:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 15:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:42:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=19.9ms, retries=95.7ms, total=115.6ms	[env.py: 1075]
+05/18 15:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.152, -0.873, -0.015)	[env.py: 1079]
+05/18 15:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.8 deg	[env.py: 1082]
+05/18 15:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m	[env.py: 1086]
+05/18 15:42:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:42:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:42:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:42:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:42:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 15:42:58 INFO: [Worker 0] Worker 0 house 2 episode 0/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:43:20 INFO: [Worker 0] Warmed up parallel IK solver in 22.113s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:43:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:43:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:43:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:43:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.456s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 15:43:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.594[m] 114.776[deg]	[grasp_sample.py: 596]
+05/18 15:43:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 15:43:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 15:43:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:43:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/18 15:43:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:43:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 15:43:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:44:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:44:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:44:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:44:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:44:32 INFO: [Worker 0] Worker 0 house 2 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/18 15:44:45 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[pipeline.py: 1174]
+05/18 15:44:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_075 batch 1/1: 1 episodes	[pipeline.py: 238]
+05/18 15:44:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/18 15:44:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/18 15:44:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[save_utils.py: 785]
+05/18 15:44:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_075 in 9.07s (batch: 2.33s, save: 6.74s)	[pipeline.py: 300]
+05/18 15:44:54 INFO: [Worker 0] [PROFILE] Episode 0 house 2 success=True episode_total=3.29s:
+  episode_total: mean=119.03s, total=119.03s, count=1, min=119033.3ms, max=119033.3ms
+  sensor_polling: mean=206.0ms, total=61.81s, count=300, min=186.8ms, max=342.6ms
+  save_trajectories: mean=6.74s, total=6.74s, count=1, min=6739.4ms, max=6739.4ms
+  physics_step: mean=13.9ms, total=4.16s, count=300, min=11.1ms, max=15.6ms
+  task_sampling: mean=3.29s, total=3.29s, count=1, min=3285.5ms, max=3285.5ms
+  scene_load: mean=2.97s, total=2.97s, count=1, min=2972.0ms, max=2972.0ms
+  save_batch_prep: mean=2.33s, total=2.33s, count=1, min=2329.6ms, max=2329.6ms
+  scene_env_create: mean=1.80s, total=1.80s, count=1, min=1802.5ms, max=1802.5ms
+  scene_compile: mean=1.05s, total=1.05s, count=1, min=1053.2ms, max=1053.2ms
+  compile_mujoco: mean=703.9ms, total=703.9ms, count=1, min=703.9ms, max=703.9ms
+  task_specific_sample: mean=311.0ms, total=311.0ms, count=1, min=311.0ms, max=311.0ms
+  compile_xml_load: mean=283.3ms, total=283.3ms, count=1, min=283.3ms, max=283.3ms
+  scene_init: mean=65.4ms, total=65.4ms, count=1, min=65.4ms, max=65.4ms
+  scene_asset_install: mean=50.6ms, total=50.6ms, count=1, min=50.6ms, max=50.6ms
+  compile_aux_objects: mean=37.9ms, total=37.9ms, count=1, min=37.9ms, max=37.9ms
+  compile_aux_policy_objects: mean=37.9ms, total=37.9ms, count=1, min=37.9ms, max=37.9ms
+  asset_install_grasps: mean=35.8ms, total=35.8ms, count=1, min=35.8ms, max=35.8ms
+  compile_robot_add: mean=21.6ms, total=21.6ms, count=1, min=21.6ms, max=21.6ms
+  asset_install_objects: mean=11.4ms, total=11.4ms, count=1, min=11.4ms, max=11.4ms
+  asset_install_scene: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  scene_randomize: mean=975.5us, total=1.0ms, count=1, min=1.0ms, max=1.0ms
+  mj_forward_sync: mean=318.0us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=37.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/18 15:44:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 15:44:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:44:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:44:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:44:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:44:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:44:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:44:55 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 15:44:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/18 15:44:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 15:44:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.096m, effective arm-mount z=0.764m (base_body_z=-0.096m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 15:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 15:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.095961m	[env.py: 870]
+05/18 15:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 15:44:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 15:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.31564335 -0.49517061 -0.0959615 ] yaw=-166.1deg	[env.py: 1019]
+05/18 15:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.09978897 -1.08095923 -0.0959615 ] yaw=160.5deg	[env.py: 1019]
+05/18 15:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 15:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.18706324 -0.6547834  -0.0959615 ] yaw=-165.3deg	[env.py: 1019]
+05/18 15:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 15:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:44:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=78.1ms, total=78.1ms	[env.py: 1075]
+05/18 15:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.316, -0.495, -0.096)	[env.py: 1079]
+05/18 15:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.1 deg	[env.py: 1082]
+05/18 15:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m	[env.py: 1086]
+05/18 15:44:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:44:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:44:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:44:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:44:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 15:44:56 INFO: [Worker 0] Worker 0 house 2 episode 1/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:44:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:44:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:44:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:44:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:44:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.474s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 15:44:56 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.530[m] 105.330[deg]	[grasp_sample.py: 596]
+05/18 15:44:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 15:44:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 15:44:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:44:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/18 15:45:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:45:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 15:45:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:46:03 INFO: [Worker 0] Worker 0 house 2 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/18 15:46:16 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[pipeline.py: 1174]
+05/18 15:46:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_075 batch 1/1: 1 episodes	[pipeline.py: 238]
+05/18 15:46:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/18 15:46:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/18 15:46:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[save_utils.py: 785]
+05/18 15:46:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_075 in 9.62s (batch: 2.40s, save: 7.22s)	[pipeline.py: 300]
+05/18 15:46:27 INFO: [Worker 0] [PROFILE] Episode 1 house 2 success=True episode_total=0.26s:
+  episode_total: mean=91.19s, total=91.19s, count=1, min=91194.8ms, max=91194.8ms
+  sensor_polling: mean=203.1ms, total=60.93s, count=300, min=188.4ms, max=356.4ms
+  save_trajectories: mean=7.22s, total=7.22s, count=1, min=7219.6ms, max=7219.6ms
+  physics_step: mean=13.6ms, total=4.09s, count=300, min=11.0ms, max=17.7ms
+  save_batch_prep: mean=2.40s, total=2.40s, count=1, min=2399.3ms, max=2399.3ms
+  task_sampling: mean=264.0ms, total=264.0ms, count=1, min=264.0ms, max=264.0ms
+  task_specific_sample: mean=261.1ms, total=261.1ms, count=1, min=261.1ms, max=261.1ms
+  scene_randomize: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms
+  mj_forward_sync: mean=336.7us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=15.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/18 15:46:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 15:46:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:46:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:46:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:46:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:46:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:46:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:46:28 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 15:46:28 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]
+05/18 15:46:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 15:46:28 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]
+05/18 15:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 15:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011710m	[env.py: 870]
+05/18 15:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 15:46:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 15:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 149.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 124.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.11641386 -0.7469063   0.01171019] yaw=-167.2deg	[env.py: 1019]
+05/18 15:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 146.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.18609738 -0.92851529  0.01171019] yaw=207.4deg	[env.py: 1019]
+05/18 15:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 15:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.02945927 -0.46691798  0.01171019] yaw=-138.3deg	[env.py: 1019]
+05/18 15:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 15:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:46:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=118.5ms, total=118.5ms	[env.py: 1075]
+05/18 15:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.116, -0.747, 0.012)	[env.py: 1079]
+05/18 15:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.2 deg	[env.py: 1082]
+05/18 15:46:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m	[env.py: 1086]
+05/18 15:46:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:46:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:46:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:46:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:46:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 15:46:28 INFO: [Worker 0] Worker 0 house 2 episode 2/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:46:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:46:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:46:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:46:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:46:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.960s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 15:46:30 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.550[m] 88.603[deg]	[grasp_sample.py: 596]
+05/18 15:46:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 15:46:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 15:46:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:46:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/18 15:46:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:46:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 15:46:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:47:38 INFO: [Worker 0] Worker 0 house 2 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/18 15:47:52 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[pipeline.py: 1174]
+05/18 15:47:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_075 batch 1/1: 1 episodes	[pipeline.py: 238]
+05/18 15:47:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/18 15:48:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/18 15:48:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[save_utils.py: 785]
+05/18 15:48:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_075 in 9.42s (batch: 2.48s, save: 6.94s)	[pipeline.py: 300]
+05/18 15:48:02 INFO: [Worker 0] [PROFILE] Episode 2 house 2 success=True episode_total=0.31s:
+  episode_total: mean=93.80s, total=93.80s, count=1, min=93796.5ms, max=93796.5ms
+  sensor_polling: mean=204.5ms, total=61.35s, count=300, min=190.9ms, max=448.8ms
+  save_trajectories: mean=6.94s, total=6.94s, count=1, min=6944.1ms, max=6944.1ms
+  physics_step: mean=13.6ms, total=4.08s, count=300, min=10.9ms, max=16.7ms
+  save_batch_prep: mean=2.48s, total=2.48s, count=1, min=2477.6ms, max=2477.6ms
+  task_sampling: mean=308.8ms, total=308.8ms, count=1, min=308.8ms, max=308.8ms
+  task_specific_sample: mean=306.0ms, total=306.0ms, count=1, min=306.0ms, max=306.0ms
+  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
+  mj_forward_sync: mean=375.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/18 15:48:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 15:48:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:48:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:48:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:48:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:48:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:48:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:48:03 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 15:48:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/18 15:48:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 15:48:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.099m, effective arm-mount z=0.761m (base_body_z=-0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 15:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 15:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.098898m	[env.py: 870]
+05/18 15:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 15:48:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 15:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 141.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.09727687 -0.44860486 -0.09889784] yaw=-164.2deg	[env.py: 1019]
+05/18 15:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.13912104 -0.46644162 -0.09889784] yaw=-127.9deg	[env.py: 1019]
+05/18 15:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 15:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:48:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=139.3ms, total=139.3ms	[env.py: 1075]
+05/18 15:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.097, -0.449, -0.099)	[env.py: 1079]
+05/18 15:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.2 deg	[env.py: 1082]
+05/18 15:48:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m	[env.py: 1086]
+05/18 15:48:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:48:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:48:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:48:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:48:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 15:48:03 INFO: [Worker 0] Worker 0 house 2 episode 3/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:48:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:48:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:48:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:48:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:48:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.970s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 15:48:05 INFO: [Worker 0] Feasible grasp found 151 (originally 36): w/ 0.853[m] 107.344[deg]	[grasp_sample.py: 596]
+05/18 15:48:06 ERROR: [Worker 0] Worker 0 house 2 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/18 15:48:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 15:48:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:48:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:48:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:48:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:48:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:48:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:48:07 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 15:48:07 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]
+05/18 15:48:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 15:48:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 15:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 15:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043200m	[env.py: 870]
+05/18 15:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 15:48:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 15:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.23978532 -0.3225319   0.04320021] yaw=-171.0deg	[env.py: 1019]
+05/18 15:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 123.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.00333203 -0.86986645  0.04320021] yaw=-192.9deg	[env.py: 1019]
+05/18 15:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 15:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:48:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=134.2ms, total=134.2ms	[env.py: 1075]
+05/18 15:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.240, -0.323, 0.043)	[env.py: 1079]
+05/18 15:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.0 deg	[env.py: 1082]
+05/18 15:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.024m	[env.py: 1086]
+05/18 15:48:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:48:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:48:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:48:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:48:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 15:48:08 INFO: [Worker 0] Worker 0 house 2 episode 4/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:48:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:48:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:48:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:48:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:48:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.046s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 15:48:10 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.817[m] 105.882[deg]	[grasp_sample.py: 596]
+05/18 15:48:11 ERROR: [Worker 0] Worker 0 house 2 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/18 15:48:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 15:48:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:48:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:48:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:48:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:48:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:48:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:48:12 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 15:48:12 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]
+05/18 15:48:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 15:48:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 15:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 15:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073824m	[env.py: 870]
+05/18 15:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 15:48:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 15:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 168.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -91.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.03300433 -0.9553825   0.07382436] yaw=173.0deg	[env.py: 1019]
+05/18 15:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.40325756 -0.04771491  0.07382436] yaw=-114.7deg	[env.py: 1019]
+05/18 15:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 15:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.07057528 -1.14115202  0.07382436] yaw=195.7deg	[env.py: 1019]
+05/18 15:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 15:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:48:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.5ms, total=117.5ms	[env.py: 1075]
+05/18 15:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.033, -0.955, 0.074)	[env.py: 1079]
+05/18 15:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.0 deg	[env.py: 1082]
+05/18 15:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.108m	[env.py: 1086]
+05/18 15:48:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:48:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:48:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:48:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:48:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 15:48:12 INFO: [Worker 0] Worker 0 house 2 episode 5/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:48:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:48:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:48:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:48:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:48:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.051s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 15:48:14 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.747[m] 84.937[deg]	[grasp_sample.py: 596]
+05/18 15:48:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 15:48:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 15:48:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:48:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/18 15:48:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:48:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:48:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:48:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:48:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:48:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:48:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:48:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:48:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:48:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/18 15:48:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/18 15:48:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:48:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:48:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 84 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:49:34 INFO: [Worker 0] Feasibility-checked 84 grasps in 36.969s, found feasible grasp: False	[grasp_sample.py: 557]
+05/18 15:49:34 ERROR: [Worker 0] Worker 0 house 2 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/18 15:49:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 15:49:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:49:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:49:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:49:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:49:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:49:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:49:36 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 15:49:36 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]
+05/18 15:49:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 15:49:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 15:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 15:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027935m	[env.py: 870]
+05/18 15:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 15:49:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 15:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 111.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.11999798 -1.09390004  0.02793499] yaw=144.8deg	[env.py: 1019]
+05/18 15:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 131.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 134.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.25723046 -0.27368625  0.02793499] yaw=-138.4deg	[env.py: 1019]
+05/18 15:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 15:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.19583312 -0.26259409  0.02793499] yaw=-134.9deg	[env.py: 1019]
+05/18 15:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 15:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:49:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.3ms, total=139.3ms	[env.py: 1075]
+05/18 15:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.120, -1.094, 0.028)	[env.py: 1079]
+05/18 15:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 144.8 deg	[env.py: 1082]
+05/18 15:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m	[env.py: 1086]
+05/18 15:49:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:49:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:49:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:49:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:49:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 15:49:36 INFO: [Worker 0] Worker 0 house 2 episode 6/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:49:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:49:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:49:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:49:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:49:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.742s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 15:49:37 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.686[m] 95.066[deg]	[grasp_sample.py: 596]
+05/18 15:49:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 15:49:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 15:49:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:49:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/18 15:50:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:50:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:50:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:50:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:50:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:50:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:50:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:50:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:50:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 15:50:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:50:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:50:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/18 15:50:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/18 15:50:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:50:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:50:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 82 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:50:23 INFO: [Worker 0] Feasibility-checked 82 grasps in 0.492s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 15:50:23 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.033[m] 8.538[deg]	[grasp_sample.py: 596]
+05/18 15:50:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 15:50:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 15:50:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:50:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:50:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 15:50:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:50:57 INFO: [Worker 0] Worker 0 house 2 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/18 15:51:11 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[pipeline.py: 1174]
+05/18 15:51:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_075 batch 1/1: 1 episodes	[pipeline.py: 238]
+05/18 15:51:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/18 15:51:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/18 15:51:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[save_utils.py: 785]
+05/18 15:51:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_075 in 9.28s (batch: 2.49s, save: 6.79s)	[pipeline.py: 300]
+05/18 15:51:21 INFO: [Worker 0] [PROFILE] Episode 6 house 2 success=True episode_total=1.25s:
+  episode_total: mean=48.54s, total=194.15s, count=4, min=3195.8ms, max=105143.7ms
+  sensor_polling: mean=204.8ms, total=94.20s, count=460, min=185.5ms, max=405.9ms
+  save_trajectories: mean=6.79s, total=6.79s, count=1, min=6788.8ms, max=6788.8ms
+  physics_step: mean=13.5ms, total=6.22s, count=460, min=10.0ms, max=24.0ms
+  save_batch_prep: mean=2.49s, total=2.49s, count=1, min=2491.8ms, max=2491.8ms
+  task_sampling: mean=311.7ms, total=1.25s, count=4, min=285.7ms, max=330.9ms
+  task_specific_sample: mean=309.4ms, total=1.24s, count=4, min=283.8ms, max=328.3ms
+  scene_randomize: mean=1.1ms, total=4.3ms, count=4, min=0.9ms, max=1.5ms
+  mj_forward_sync: mean=326.8us, total=1.3ms, count=4, min=0.3ms, max=0.3ms
+  policy_setup: mean=14.8us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/18 15:51:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 15:51:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:51:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:51:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:51:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:51:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:51:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:51:22 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 15:51:22 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]
+05/18 15:51:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 15:51:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 15:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 15:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065934m	[env.py: 870]
+05/18 15:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 15:51:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 15:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.02552402 -0.68682367  0.06593352] yaw=-150.2deg	[env.py: 1019]
+05/18 15:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.1135032  -0.88196235  0.06593352] yaw=-165.5deg	[env.py: 1019]
+05/18 15:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 15:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 109.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.34955134 -0.13757141  0.06593352] yaw=-149.2deg	[env.py: 1019]
+05/18 15:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 15:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:51:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.9ms, total=93.9ms	[env.py: 1075]
+05/18 15:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.026, -0.687, 0.066)	[env.py: 1079]
+05/18 15:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.2 deg	[env.py: 1082]
+05/18 15:51:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.123m	[env.py: 1086]
+05/18 15:51:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:51:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:51:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:51:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:51:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 15:51:23 INFO: [Worker 0] Worker 0 house 2 episode 7/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:51:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:51:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:51:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:51:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:51:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.957s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 15:51:25 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.712[m] 70.274[deg]	[grasp_sample.py: 596]
+05/18 15:51:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 15:51:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 15:51:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:51:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/18 15:51:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:51:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 15:52:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:52:31 INFO: [Worker 0] Worker 0 house 2 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/18 15:52:45 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[pipeline.py: 1174]
+05/18 15:52:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_075 batch 1/1: 1 episodes	[pipeline.py: 238]
+05/18 15:52:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/18 15:52:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/18 15:52:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[save_utils.py: 785]
+05/18 15:52:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_075 in 9.01s (batch: 2.50s, save: 6.51s)	[pipeline.py: 300]
+05/18 15:52:55 INFO: [Worker 0] [PROFILE] Episode 7 house 2 success=True episode_total=0.28s:
+  episode_total: mean=92.34s, total=92.34s, count=1, min=92337.8ms, max=92337.8ms
+  sensor_polling: mean=203.3ms, total=60.99s, count=300, min=189.1ms, max=453.1ms
+  save_trajectories: mean=6.51s, total=6.51s, count=1, min=6514.3ms, max=6514.3ms
+  physics_step: mean=14.1ms, total=4.22s, count=300, min=10.8ms, max=20.3ms
+  save_batch_prep: mean=2.50s, total=2.50s, count=1, min=2500.5ms, max=2500.5ms
+  task_sampling: mean=278.0ms, total=278.0ms, count=1, min=278.0ms, max=278.0ms
+  task_specific_sample: mean=274.4ms, total=274.4ms, count=1, min=274.4ms, max=274.4ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=340.8us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/18 15:52:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 15:52:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:52:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:52:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:52:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:52:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:52:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:52:56 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 15:52:56 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]
+05/18 15:52:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 15:52:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 15:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 15:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000647m	[env.py: 870]
+05/18 15:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 15:52:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 15:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 147.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -90.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -78.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.00906123 -0.49937417  0.0006473 ] yaw=-132.6deg	[env.py: 1019]
+05/18 15:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:52:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=132.9ms, total=133.0ms	[env.py: 1075]
+05/18 15:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.009, -0.499, 0.001)	[env.py: 1079]
+05/18 15:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.6 deg	[env.py: 1082]
+05/18 15:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.144m	[env.py: 1086]
+05/18 15:52:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:52:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:52:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:52:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:52:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 15:52:56 INFO: [Worker 0] Worker 0 house 2 episode 8/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:52:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:52:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:52:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:52:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:52:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.022s, found feasible grasp: False	[grasp_sample.py: 557]
+05/18 15:52:58 ERROR: [Worker 0] Worker 0 house 2 episode 8 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/18 15:53:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 15:53:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:53:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:53:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:53:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:53:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:53:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:53:00 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 15:53:00 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]
+05/18 15:53:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 15:53:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.019m, effective arm-mount z=0.841m (base_body_z=-0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 15:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 15:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.018805m	[env.py: 870]
+05/18 15:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 15:53:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 15:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.01975212 -1.12362966 -0.01880516] yaw=173.3deg	[env.py: 1019]
+05/18 15:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 129.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.05865807 -0.69082054 -0.01880516] yaw=-163.1deg	[env.py: 1019]
+05/18 15:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 15:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.13929089 -1.29155182 -0.01880516] yaw=154.3deg	[env.py: 1019]
+05/18 15:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 15:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:53:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=76.1ms, total=76.1ms	[env.py: 1075]
+05/18 15:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.020, -1.124, -0.019)	[env.py: 1079]
+05/18 15:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.3 deg	[env.py: 1082]
+05/18 15:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.114m	[env.py: 1086]
+05/18 15:53:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:53:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:53:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:53:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:53:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 15:53:00 INFO: [Worker 0] Worker 0 house 2 episode 9/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:53:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:53:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:53:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:53:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:53:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.043s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 15:53:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.770[m] 106.042[deg]	[grasp_sample.py: 596]
+05/18 15:53:03 ERROR: [Worker 0] Worker 0 house 2 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/18 15:53:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 15:53:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:53:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:53:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:53:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:53:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:53:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:53:04 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 15:53:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/18 15:53:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 15:53:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 15:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 15:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061832m	[env.py: 870]
+05/18 15:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 15:53:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 15:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -107.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.27238283 -0.45802308  0.0618322 ] yaw=-169.4deg	[env.py: 1019]
+05/18 15:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.00175882 -1.39053674  0.0618322 ] yaw=166.6deg	[env.py: 1019]
+05/18 15:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 15:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -96.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.26498373 -0.46607005  0.0618322 ] yaw=-146.1deg	[env.py: 1019]
+05/18 15:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 15:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:53:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=99.1ms, total=99.1ms	[env.py: 1075]
+05/18 15:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.272, -0.458, 0.062)	[env.py: 1079]
+05/18 15:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.4 deg	[env.py: 1082]
+05/18 15:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m	[env.py: 1086]
+05/18 15:53:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:53:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:53:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:53:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:53:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 15:53:04 INFO: [Worker 0] Worker 0 house 2 episode 10/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:53:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:53:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:53:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:53:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:53:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.747s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 15:53:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.575[m] 118.439[deg]	[grasp_sample.py: 596]
+05/18 15:53:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 15:53:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 15:53:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:53:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/18 15:53:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:53:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 15:53:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:54:13 INFO: [Worker 0] Worker 0 house 2 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/18 15:54:27 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[pipeline.py: 1174]
+05/18 15:54:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_075 batch 1/1: 1 episodes	[pipeline.py: 238]
+05/18 15:54:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/18 15:54:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/18 15:54:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[save_utils.py: 785]
+05/18 15:54:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_075 in 9.34s (batch: 2.44s, save: 6.90s)	[pipeline.py: 300]
+05/18 15:54:37 INFO: [Worker 0] [PROFILE] Episode 10 house 2 success=True episode_total=0.85s:
+  episode_total: mean=32.75s, total=98.25s, count=3, min=2474.1ms, max=92605.5ms
+  sensor_polling: mean=205.8ms, total=61.73s, count=300, min=183.9ms, max=419.0ms
+  save_trajectories: mean=6.90s, total=6.90s, count=1, min=6898.7ms, max=6898.7ms
+  physics_step: mean=13.9ms, total=4.16s, count=300, min=10.9ms, max=17.9ms
+  save_batch_prep: mean=2.44s, total=2.44s, count=1, min=2442.8ms, max=2442.8ms
+  task_sampling: mean=282.2ms, total=846.6ms, count=3, min=245.6ms, max=333.8ms
+  task_specific_sample: mean=279.8ms, total=839.3ms, count=3, min=243.2ms, max=330.8ms
+  scene_randomize: mean=1.2ms, total=3.6ms, count=3, min=0.9ms, max=1.9ms
+  mj_forward_sync: mean=335.4us, total=1.0ms, count=3, min=0.3ms, max=0.4ms
+  policy_setup: mean=12.8us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/18 15:54:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 15:54:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:54:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:54:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:54:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:54:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:54:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:54:38 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 15:54:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/18 15:54:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 15:54:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 15:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 15:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057754m	[env.py: 870]
+05/18 15:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 15:54:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 15:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.11035241 -0.52332768  0.05775434] yaw=-149.0deg	[env.py: 1019]
+05/18 15:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.01973664 -0.42898614  0.05775434] yaw=-161.5deg	[env.py: 1019]
+05/18 15:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 15:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.03289468 -0.92398121  0.05775434] yaw=187.0deg	[env.py: 1019]
+05/18 15:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 15:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:54:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=94.3ms, total=94.3ms	[env.py: 1075]
+05/18 15:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.110, -0.523, 0.058)	[env.py: 1079]
+05/18 15:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.0 deg	[env.py: 1082]
+05/18 15:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.248m	[env.py: 1086]
+05/18 15:54:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:54:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:54:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:54:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:54:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 15:54:38 INFO: [Worker 0] Worker 0 house 2 episode 11/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:54:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:54:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:54:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:54:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:54:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.894s, found feasible grasp: False	[grasp_sample.py: 557]
+05/18 15:54:40 ERROR: [Worker 0] Worker 0 house 2 episode 11 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/18 15:54:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 15:54:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:54:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:54:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:54:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:54:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:54:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:54:41 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 15:54:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/18 15:54:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 15:54:41 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]
+05/18 15:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 15:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065078m	[env.py: 870]
+05/18 15:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 15:54:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 15:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 154.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 133.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.33725941 -0.24130141  0.06507786] yaw=-163.8deg	[env.py: 1019]
+05/18 15:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -87.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 154.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.05468319 -1.49948502  0.06507786] yaw=138.0deg	[env.py: 1019]
+05/18 15:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 15:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.50272162 -0.11939782  0.06507786] yaw=-134.7deg	[env.py: 1019]
+05/18 15:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 15:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:54:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=172.3ms, total=172.3ms	[env.py: 1075]
+05/18 15:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.337, -0.241, 0.065)	[env.py: 1079]
+05/18 15:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.8 deg	[env.py: 1082]
+05/18 15:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.999m	[env.py: 1086]
+05/18 15:54:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:54:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:54:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:54:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:54:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 15:54:42 INFO: [Worker 0] Worker 0 house 2 episode 12/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:54:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:54:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:54:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:54:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:54:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.566s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 15:54:45 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.644[m] 97.080[deg]	[grasp_sample.py: 596]
+05/18 15:54:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 15:54:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 15:54:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:54:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/18 15:55:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:55:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 15:55:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:55:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:55:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:55:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:55:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:55:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:55:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:55:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:55:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/18 15:55:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/18 15:55:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/18 15:55:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:55:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:55:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 80 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:55:51 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.993s, found feasible grasp: False	[grasp_sample.py: 557]
+05/18 15:55:51 ERROR: [Worker 0] Worker 0 house 2 episode 12 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/18 15:55:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 15:55:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:55:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:55:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:55:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:55:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:55:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:55:52 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 15:55:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/18 15:55:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 15:55:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018681m	[env.py: 870]
+05/18 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 15:55:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.26792182 -0.4890461   0.0186809 ] yaw=-151.2deg	[env.py: 1019]
+05/18 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:55:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.09772116 -0.41433148  0.0186809 ] yaw=-133.1deg	[env.py: 1019]
+05/18 15:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 15:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:55:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=135.7ms, total=135.7ms	[env.py: 1075]
+05/18 15:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.268, -0.489, 0.019)	[env.py: 1079]
+05/18 15:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.2 deg	[env.py: 1082]
+05/18 15:55:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m	[env.py: 1086]
+05/18 15:55:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:55:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:55:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:55:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:55:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 15:55:53 INFO: [Worker 0] Worker 0 house 2 episode 13/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:55:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:55:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:55:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:55:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:55:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.916s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 15:55:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.528[m] 99.800[deg]	[grasp_sample.py: 596]
+05/18 15:55:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 15:55:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 15:55:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:55:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/18 15:56:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:56:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 15:56:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:57:02 INFO: [Worker 0] Worker 0 house 2 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/18 15:57:16 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[pipeline.py: 1174]
+05/18 15:57:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_075 batch 1/1: 1 episodes	[pipeline.py: 238]
+05/18 15:57:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/18 15:57:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/18 15:57:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[save_utils.py: 785]
+05/18 15:57:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_075 in 9.44s (batch: 2.38s, save: 7.06s)	[pipeline.py: 300]
+05/18 15:57:26 INFO: [Worker 0] [PROFILE] Episode 13 house 2 success=True episode_total=1.12s:
+  episode_total: mean=55.28s, total=165.84s, count=3, min=2285.8ms, max=93963.7ms
+  sensor_polling: mean=208.1ms, total=115.91s, count=557, min=189.1ms, max=497.4ms
+  physics_step: mean=13.6ms, total=7.59s, count=557, min=10.9ms, max=24.8ms
+  save_trajectories: mean=7.06s, total=7.06s, count=1, min=7062.8ms, max=7062.8ms
+  save_batch_prep: mean=2.38s, total=2.38s, count=1, min=2379.3ms, max=2379.3ms
+  task_sampling: mean=371.9ms, total=1.12s, count=3, min=285.7ms, max=513.9ms
+  task_specific_sample: mean=369.3ms, total=1.11s, count=3, min=282.1ms, max=511.6ms
+  scene_randomize: mean=1.5ms, total=4.4ms, count=3, min=0.9ms, max=2.6ms
+  mj_forward_sync: mean=322.6us, total=1.0ms, count=3, min=0.3ms, max=0.3ms
+  policy_setup: mean=14.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/18 15:57:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 15:57:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:57:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:57:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:57:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:57:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:57:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:57:28 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 15:57:28 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]
+05/18 15:57:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 15:57:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.052m, effective arm-mount z=0.808m (base_body_z=-0.052m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 15:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 15:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.051540m	[env.py: 870]
+05/18 15:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 15:57:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 15:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 143.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 156.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.33347889 -0.42228565 -0.05153956] yaw=-139.0deg	[env.py: 1019]
+05/18 15:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:57:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=136.2ms, total=136.2ms	[env.py: 1075]
+05/18 15:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.333, -0.422, -0.052)	[env.py: 1079]
+05/18 15:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.0 deg	[env.py: 1082]
+05/18 15:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m	[env.py: 1086]
+05/18 15:57:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:57:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:57:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:57:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:57:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 15:57:28 INFO: [Worker 0] Worker 0 house 2 episode 14/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:57:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:57:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:57:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:57:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:57:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.940s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 15:57:29 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.497[m] 84.516[deg]	[grasp_sample.py: 596]
+05/18 15:57:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 15:57:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 15:57:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:57:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/18 15:57:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:57:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 15:57:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:58:36 INFO: [Worker 0] Worker 0 house 2 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/18 15:58:50 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[pipeline.py: 1174]
+05/18 15:58:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_075 batch 1/1: 1 episodes	[pipeline.py: 238]
+05/18 15:58:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/18 15:59:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/18 15:59:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[save_utils.py: 785]
+05/18 15:59:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_075 in 9.34s (batch: 2.40s, save: 6.94s)	[pipeline.py: 300]
+05/18 15:59:00 INFO: [Worker 0] [PROFILE] Episode 14 house 2 success=True episode_total=0.32s:
+  episode_total: mean=92.46s, total=92.46s, count=1, min=92457.4ms, max=92457.4ms
+  sensor_polling: mean=203.7ms, total=61.11s, count=300, min=191.5ms, max=482.1ms
+  save_trajectories: mean=6.94s, total=6.94s, count=1, min=6936.9ms, max=6936.9ms
+  physics_step: mean=14.4ms, total=4.32s, count=300, min=10.9ms, max=20.3ms
+  save_batch_prep: mean=2.40s, total=2.40s, count=1, min=2403.3ms, max=2403.3ms
+  task_sampling: mean=323.7ms, total=323.7ms, count=1, min=323.7ms, max=323.7ms
+  task_specific_sample: mean=321.1ms, total=321.1ms, count=1, min=321.1ms, max=321.1ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=341.5us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=16.2us, 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]
+05/18 15:59:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 15:59:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 15:59:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 15:59:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:59:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:59:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:59:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:59:01 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 15:59:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/18 15:59:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 15:59:01 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]
+05/18 15:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 15:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 15:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021255m	[env.py: 870]
+05/18 15:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 15:59:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 15:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 15:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.01932565 -0.80689156  0.02125542] yaw=-178.5deg	[env.py: 1019]
+05/18 15:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 15:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -141.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.1104274  -0.73163277  0.02125542] yaw=-156.7deg	[env.py: 1019]
+05/18 15:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 15:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 15:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 15:59:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=135.5ms, total=135.5ms	[env.py: 1075]
+05/18 15:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.019, -0.807, 0.021)	[env.py: 1079]
+05/18 15:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.5 deg	[env.py: 1082]
+05/18 15:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m	[env.py: 1086]
+05/18 15:59:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 15:59:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 15:59:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 15:59:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 15:59:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 15:59:02 INFO: [Worker 0] Worker 0 house 2 episode 15/72 collected=0/12	[pipeline.py: 1044]
+05/18 15:59:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/18 15:59:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 15:59:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 15:59:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 15:59:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.389s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 15:59:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.840[m] 88.862[deg]	[grasp_sample.py: 596]
+05/18 15:59:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 15:59:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 15:59:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:59:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/18 15:59:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 15:59:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 15:59:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:00:10 INFO: [Worker 0] Worker 0 house 2 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/18 16:00:25 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[pipeline.py: 1174]
+05/18 16:00:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_075 batch 1/1: 1 episodes	[pipeline.py: 238]
+05/18 16:00:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/18 16:00:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/18 16:00:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[save_utils.py: 785]
+05/18 16:00:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_075 in 9.46s (batch: 2.61s, save: 6.85s)	[pipeline.py: 300]
+05/18 16:00:35 INFO: [Worker 0] [PROFILE] Episode 15 house 2 success=True episode_total=0.33s:
+  episode_total: mean=93.44s, total=93.44s, count=1, min=93444.2ms, max=93444.2ms
+  sensor_polling: mean=203.6ms, total=61.07s, count=300, min=186.1ms, max=433.5ms
+  save_trajectories: mean=6.85s, total=6.85s, count=1, min=6846.0ms, max=6846.0ms
+  physics_step: mean=13.3ms, total=4.00s, count=300, min=10.8ms, max=15.4ms
+  save_batch_prep: mean=2.61s, total=2.61s, count=1, min=2614.7ms, max=2614.7ms
+  task_sampling: mean=332.5ms, total=332.5ms, count=1, min=332.5ms, max=332.5ms
+  task_specific_sample: mean=329.1ms, total=329.1ms, count=1, min=329.1ms, max=329.1ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=342.5us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=16.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/18 16:00:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:00:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:00:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:00:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:00:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:00:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:00:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:00:36 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:00:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/18 16:00:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:00:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 16:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067743m	[env.py: 870]
+05/18 16:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:00:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 151.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -159.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.11123405 -1.30702881  0.06774318] yaw=165.1deg	[env.py: 1019]
+05/18 16:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 142.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.05155677 -1.30773588  0.06774318] yaw=169.3deg	[env.py: 1019]
+05/18 16:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:00:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=139.8ms, total=139.9ms	[env.py: 1075]
+05/18 16:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.111, -1.307, 0.068)	[env.py: 1079]
+05/18 16:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.1 deg	[env.py: 1082]
+05/18 16:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.248m	[env.py: 1086]
+05/18 16:00:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:00:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:00:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:00:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:00:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:00:36 INFO: [Worker 0] Worker 0 house 2 episode 16/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:00:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:00:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:00:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:00:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:00:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.942s, found feasible grasp: False	[grasp_sample.py: 557]
+05/18 16:00:38 ERROR: [Worker 0] Worker 0 house 2 episode 16 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/18 16:00:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:00:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:00:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:00:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:00:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:00:40 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:00:40 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]
+05/18 16:00:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:00:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086569m	[env.py: 870]
+05/18 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:00:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 153.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.08180836 -1.08184934  0.08656896] yaw=148.2deg	[env.py: 1019]
+05/18 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.27855633 -0.18583803  0.08656896] yaw=-160.8deg	[env.py: 1019]
+05/18 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.00082473 -0.54643066  0.08656896] yaw=-137.6deg	[env.py: 1019]
+05/18 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:00:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.5ms, total=111.6ms	[env.py: 1075]
+05/18 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.082, -1.082, 0.087)	[env.py: 1079]
+05/18 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.2 deg	[env.py: 1082]
+05/18 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.168m	[env.py: 1086]
+05/18 16:00:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:00:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:00:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:00:40 INFO: [Worker 0] Worker 0 house 2 episode 17/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:00:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:00:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:00:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:00:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:00:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.883s, found feasible grasp: False	[grasp_sample.py: 557]
+05/18 16:00:42 ERROR: [Worker 0] Worker 0 house 2 episode 17 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/18 16:00:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:00:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:00:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:00:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:00:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:00:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:00:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:00:43 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:00:43 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]
+05/18 16:00:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:00:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010932m	[env.py: 870]
+05/18 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:00:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.57074448 -0.2105448   0.01093224] yaw=-128.2deg	[env.py: 1019]
+05/18 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.06973512 -1.0170004   0.01093224] yaw=173.0deg	[env.py: 1019]
+05/18 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -100.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 118.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.01705237 -0.63359397  0.01093224] yaw=-184.1deg	[env.py: 1019]
+05/18 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:00:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=90.2ms, total=90.2ms	[env.py: 1075]
+05/18 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.571, -0.211, 0.011)	[env.py: 1079]
+05/18 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.2 deg	[env.py: 1082]
+05/18 16:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.867m	[env.py: 1086]
+05/18 16:00:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:00:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:00:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:00:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:00:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:00:43 INFO: [Worker 0] Worker 0 house 2 episode 18/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:00:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:00:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:00:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:00:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:00:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.526s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:00:47 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.613[m] 102.761[deg]	[grasp_sample.py: 596]
+05/18 16:00:48 ERROR: [Worker 0] Worker 0 house 2 episode 18 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/18 16:00:48 WARNING: [Worker 0] Asset Fridge_m_2 (hash: ced2e34b7080d5dfaeb602c72825d9cf) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose	[task_sampler.py: 396]
+05/18 16:00:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:00:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:00:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:00:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:00:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:00:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:00:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:00:49 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:00:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/18 16:00:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:00:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.047m, effective arm-mount z=0.813m (base_body_z=-0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 16:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.047449m	[env.py: 870]
+05/18 16:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:00:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.43747366 -0.30216875 -0.04744932] yaw=-147.3deg	[env.py: 1019]
+05/18 16:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.01534328 -1.21768341 -0.04744932] yaw=145.8deg	[env.py: 1019]
+05/18 16:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.08903216 -0.97982086 -0.04744932] yaw=155.6deg	[env.py: 1019]
+05/18 16:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 16:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:00:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.0ms, total=135.1ms	[env.py: 1075]
+05/18 16:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.437, -0.302, -0.047)	[env.py: 1079]
+05/18 16:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.3 deg	[env.py: 1082]
+05/18 16:00:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m	[env.py: 1086]
+05/18 16:00:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:00:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:00:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:00:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:00:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:00:49 INFO: [Worker 0] Worker 0 house 2 episode 19/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:00:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:00:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:00:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:00:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:00:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.021s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:00:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.620[m] 96.998[deg]	[grasp_sample.py: 596]
+05/18 16:00:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 16:00:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 16:00:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:00:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/18 16:01:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:01:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 16:01:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:01:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:01:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:01:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:01:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:01:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:01:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:01:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:02:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:02:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/18 16:02:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/18 16:02:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:02:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:02:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 74 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:02:02 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.019s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:02:02 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.217[deg]	[grasp_sample.py: 596]
+05/18 16:02:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 16:02:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 16:02:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:02:06 INFO: [Worker 0] Worker 0 house 2 episode 19 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/18 16:02:21 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[pipeline.py: 1174]
+05/18 16:02:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_075 batch 1/1: 1 episodes	[pipeline.py: 238]
+05/18 16:02:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/18 16:02:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/18 16:02:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[save_utils.py: 785]
+05/18 16:02:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_075 in 9.39s (batch: 2.44s, save: 6.95s)	[pipeline.py: 300]
+05/18 16:02:31 INFO: [Worker 0] [PROFILE] Episode 19 house 2 success=True episode_total=1.18s:
+  episode_total: mean=27.81s, total=111.23s, count=4, min=2248.4ms, max=101960.8ms
+  sensor_polling: mean=205.6ms, total=61.67s, count=300, min=188.6ms, max=439.9ms
+  save_trajectories: mean=6.95s, total=6.95s, count=1, min=6951.0ms, max=6951.0ms
+  physics_step: mean=13.9ms, total=4.16s, count=300, min=10.2ms, max=21.0ms
+  save_batch_prep: mean=2.44s, total=2.44s, count=1, min=2437.8ms, max=2437.8ms
+  task_sampling: mean=294.5ms, total=1.18s, count=4, min=257.6ms, max=333.7ms
+  task_specific_sample: mean=292.0ms, total=1.17s, count=4, min=255.6ms, max=330.3ms
+  scene_randomize: mean=1.2ms, total=4.9ms, count=4, min=0.9ms, max=2.3ms
+  mj_forward_sync: mean=322.0us, total=1.3ms, count=4, min=0.3ms, max=0.3ms
+  policy_setup: mean=12.9us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/18 16:02:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:02:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:02:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:02:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:02:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:02:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:02:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:02:32 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:02:32 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]
+05/18 16:02:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:02:32 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]
+05/18 16:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051682m	[env.py: 870]
+05/18 16:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:02:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 140.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 153.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.0207023  -1.01282287  0.05168218] yaw=149.3deg	[env.py: 1019]
+05/18 16:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.10438944 -0.19436526  0.05168218] yaw=-143.9deg	[env.py: 1019]
+05/18 16:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:02:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=137.6ms, total=137.6ms	[env.py: 1075]
+05/18 16:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.021, -1.013, 0.052)	[env.py: 1079]
+05/18 16:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.3 deg	[env.py: 1082]
+05/18 16:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m	[env.py: 1086]
+05/18 16:02:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:02:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:02:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:02:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:02:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:02:33 INFO: [Worker 0] Worker 0 house 2 episode 20/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:02:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:02:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:02:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:02:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:02:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.977s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:02:35 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.673[m] 64.940[deg]	[grasp_sample.py: 596]
+05/18 16:02:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 16:02:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 16:02:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:02:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/18 16:03:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:03:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:03:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:03:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:03:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:03:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:03:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:03:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:03:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/18 16:03:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/18 16:03:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:03:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:03:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:03:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.623s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:03:13 INFO: [Worker 0] Feasible grasp found 60 (originally 60): w/ 0.222[m] 12.846[deg]	[grasp_sample.py: 596]
+05/18 16:03:14 ERROR: [Worker 0] Worker 0 house 2 episode 20 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/18 16:03:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:03:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:03:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:03:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:03:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:03:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:03:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:03:15 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:03:15 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]
+05/18 16:03:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:03:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 16:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001823m	[env.py: 870]
+05/18 16:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:03:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.01967056 -0.84497455  0.00182309] yaw=-179.2deg	[env.py: 1019]
+05/18 16:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.27084342 -0.26495453  0.00182309] yaw=-167.6deg	[env.py: 1019]
+05/18 16:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.12575634 -0.66155179  0.00182309] yaw=-147.5deg	[env.py: 1019]
+05/18 16:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 16:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:03:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=54.4ms, total=54.4ms	[env.py: 1075]
+05/18 16:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.020, -0.845, 0.002)	[env.py: 1079]
+05/18 16:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.2 deg	[env.py: 1082]
+05/18 16:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m	[env.py: 1086]
+05/18 16:03:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:03:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:03:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:03:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:03:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:03:15 INFO: [Worker 0] Worker 0 house 2 episode 21/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:03:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:03:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:03:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:03:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.034s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:03:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.685s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:03:17 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.673[m] 50.231[deg]	[grasp_sample.py: 596]
+05/18 16:03:18 ERROR: [Worker 0] Worker 0 house 2 episode 21 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/18 16:03:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:03:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:03:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:03:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:03:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:03:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:03:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:03:19 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:03:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/18 16:03:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:03:19 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]
+05/18 16:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.094244m	[env.py: 870]
+05/18 16:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:03:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.05632751 -0.99926286 -0.09424407] yaw=168.9deg	[env.py: 1019]
+05/18 16:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -103.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -91.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.2159523  -0.86300855 -0.09424407] yaw=-199.6deg	[env.py: 1019]
+05/18 16:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:03:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=138.7ms, total=138.7ms	[env.py: 1075]
+05/18 16:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.056, -0.999, -0.094)	[env.py: 1079]
+05/18 16:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.9 deg	[env.py: 1082]
+05/18 16:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.134m	[env.py: 1086]
+05/18 16:03:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:03:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:03:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:03:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:03:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:03:19 INFO: [Worker 0] Worker 0 house 2 episode 22/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:03:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:03:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:03:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:03:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:03:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.915s, found feasible grasp: False	[grasp_sample.py: 557]
+05/18 16:03:21 ERROR: [Worker 0] Worker 0 house 2 episode 22 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/18 16:03:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:03:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:03:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:03:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:03:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:03:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:03:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:03:23 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:03:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/18 16:03:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:03:23 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]
+05/18 16:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.060178m	[env.py: 870]
+05/18 16:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:03:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.09447103 -1.42075644 -0.06017795] yaw=138.6deg	[env.py: 1019]
+05/18 16:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 150.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 142.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:03:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=131.3ms, total=131.3ms	[env.py: 1075]
+05/18 16:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.094, -1.421, -0.060)	[env.py: 1079]
+05/18 16:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 138.6 deg	[env.py: 1082]
+05/18 16:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.273m	[env.py: 1086]
+05/18 16:03:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:03:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:03:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:03:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:03:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:03:23 INFO: [Worker 0] Worker 0 house 2 episode 23/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:03:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:03:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:03:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:03:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:03:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.932s, found feasible grasp: False	[grasp_sample.py: 557]
+05/18 16:03:25 ERROR: [Worker 0] Worker 0 house 2 episode 23 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/18 16:03:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:03:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:03:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:03:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:03:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:03:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:03:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:03:26 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:03:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/18 16:03:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:03:26 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]
+05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097441m	[env.py: 870]
+05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:03:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.19298759 -0.86672228  0.09744143] yaw=-205.9deg	[env.py: 1019]
+05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.07025978 -0.65759559  0.09744143] yaw=-184.1deg	[env.py: 1019]
+05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.19534753 -0.54785989  0.09744143] yaw=-175.4deg	[env.py: 1019]
+05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:03:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=65.1ms, total=65.1ms	[env.py: 1075]
+05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.193, -0.867, 0.097)	[env.py: 1079]
+05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -205.9 deg	[env.py: 1082]
+05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.268m	[env.py: 1086]
+05/18 16:03:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:03:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:03:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:03:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:03:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:03:26 INFO: [Worker 0] Worker 0 house 2 episode 24/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:03:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:03:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:03:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:03:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:03:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.933s, found feasible grasp: False	[grasp_sample.py: 557]
+05/18 16:03:28 ERROR: [Worker 0] Worker 0 house 2 episode 24 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/18 16:03:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:03:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:03:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:03:30 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:03:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/18 16:03:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:03:30 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]
+05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098533m	[env.py: 870]
+05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:03:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 117.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.10278246 -1.06013015  0.09853302] yaw=170.6deg	[env.py: 1019]
+05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.21729155 -1.10889215  0.09853302] yaw=152.9deg	[env.py: 1019]
+05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:03:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=132.9ms, total=132.9ms	[env.py: 1075]
+05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.103, -1.060, 0.099)	[env.py: 1079]
+05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.6 deg	[env.py: 1082]
+05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m	[env.py: 1086]
+05/18 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:03:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:03:30 INFO: [Worker 0] Worker 0 house 2 episode 25/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:03:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:03:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:03:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:03:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:03:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.648s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:03:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.586[m] 72.485[deg]	[grasp_sample.py: 596]
+05/18 16:03:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 16:03:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 16:03:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:03:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/18 16:03:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:04:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 16:04:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:04:56 INFO: [Worker 0] Worker 0 house 2 episode 25 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/18 16:05:11 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[pipeline.py: 1174]
+05/18 16:05:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_075 batch 1/1: 1 episodes	[pipeline.py: 238]
+05/18 16:05:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/18 16:05:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/18 16:05:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[save_utils.py: 785]
+05/18 16:05:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_075 in 9.42s (batch: 2.63s, save: 6.78s)	[pipeline.py: 300]
+05/18 16:05:21 INFO: [Worker 0] [PROFILE] Episode 25 house 2 success=True episode_total=1.71s:
+  episode_total: mean=27.12s, total=162.72s, count=6, min=2251.3ms, max=111688.4ms
+  sensor_polling: mean=212.5ms, total=86.90s, count=409, min=193.9ms, max=444.8ms
+  save_trajectories: mean=6.78s, total=6.78s, count=1, min=6783.9ms, max=6783.9ms
+  physics_step: mean=13.4ms, total=5.47s, count=409, min=10.8ms, max=18.1ms
+  save_batch_prep: mean=2.63s, total=2.63s, count=1, min=2634.2ms, max=2634.2ms
+  task_sampling: mean=285.8ms, total=1.71s, count=6, min=234.5ms, max=328.9ms
+  task_specific_sample: mean=283.5ms, total=1.70s, count=6, min=231.9ms, max=326.1ms
+  scene_randomize: mean=1.0ms, total=6.2ms, count=6, min=0.9ms, max=1.7ms
+  mj_forward_sync: mean=322.6us, total=1.9ms, count=6, min=0.3ms, max=0.3ms
+  policy_setup: mean=12.5us, total=0.1ms, count=6, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/18 16:05:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:05:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:05:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:05:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:05:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:05:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:05:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:05:23 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:05:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/18 16:05:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:05:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 16:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091439m	[env.py: 870]
+05/18 16:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:05:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.20392364 -0.3283842   0.09143938] yaw=-151.1deg	[env.py: 1019]
+05/18 16:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 149.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.18177267 -0.40584192  0.09143938] yaw=-172.3deg	[env.py: 1019]
+05/18 16:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.19565834 -0.76309375  0.09143938] yaw=-142.8deg	[env.py: 1019]
+05/18 16:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 16:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:05:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=94.6ms, total=94.6ms	[env.py: 1075]
+05/18 16:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.204, -0.328, 0.091)	[env.py: 1079]
+05/18 16:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.1 deg	[env.py: 1082]
+05/18 16:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m	[env.py: 1086]
+05/18 16:05:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:05:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:05:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:05:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:05:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:05:23 INFO: [Worker 0] Worker 0 house 2 episode 26/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:05:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:05:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:05:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:05:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:05:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.192s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:05:28 INFO: [Worker 0] Feasible grasp found 86 (originally 86): w/ 0.762[m] 91.912[deg]	[grasp_sample.py: 596]
+05/18 16:05:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 16:05:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 16:05:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:05:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/18 16:06:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:06:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 16:06:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:06:35 INFO: [Worker 0] Worker 0 house 2 episode 26 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/18 16:06:50 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[pipeline.py: 1174]
+05/18 16:06:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_075 batch 1/1: 1 episodes	[pipeline.py: 238]
+05/18 16:06:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/18 16:07:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/18 16:07:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[save_utils.py: 785]
+05/18 16:07:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_075 in 9.49s (batch: 2.60s, save: 6.88s)	[pipeline.py: 300]
+05/18 16:07:00 INFO: [Worker 0] [PROFILE] Episode 26 house 2 success=True episode_total=0.29s:
+  episode_total: mean=97.64s, total=97.64s, count=1, min=97643.7ms, max=97643.7ms
+  sensor_polling: mean=202.7ms, total=60.81s, count=300, min=187.3ms, max=449.8ms
+  save_trajectories: mean=6.88s, total=6.88s, count=1, min=6883.2ms, max=6883.2ms
+  physics_step: mean=14.4ms, total=4.32s, count=300, min=10.9ms, max=20.6ms
+  save_batch_prep: mean=2.60s, total=2.60s, count=1, min=2601.8ms, max=2601.8ms
+  task_sampling: mean=285.6ms, total=285.6ms, count=1, min=285.6ms, max=285.6ms
+  task_specific_sample: mean=282.8ms, total=282.8ms, count=1, min=282.8ms, max=282.8ms
+  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
+  mj_forward_sync: mean=366.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/18 16:07:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:07:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:07:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:07:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:07:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:07:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:07:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:07:01 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:07:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/18 16:07:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:07:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.032m, effective arm-mount z=0.828m (base_body_z=-0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 16:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.032382m	[env.py: 870]
+05/18 16:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:07:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.26698114 -1.18820413 -0.03238226] yaw=180.2deg	[env.py: 1019]
+05/18 16:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.00729396 -1.14965194 -0.03238226] yaw=160.8deg	[env.py: 1019]
+05/18 16:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.33837892 -0.19079318 -0.03238226] yaw=-123.9deg	[env.py: 1019]
+05/18 16:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 16:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:07:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=86.7ms, total=86.7ms	[env.py: 1075]
+05/18 16:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.267, -1.188, -0.032)	[env.py: 1079]
+05/18 16:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.2 deg	[env.py: 1082]
+05/18 16:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.852m	[env.py: 1086]
+05/18 16:07:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:07:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:07:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:07:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:07:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:07:02 INFO: [Worker 0] Worker 0 house 2 episode 27/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:07:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:07:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:07:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:07:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:07:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.617s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:07:02 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.449[m] 63.161[deg]	[grasp_sample.py: 596]
+05/18 16:07:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 16:07:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 16:07:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:07:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/18 16:07:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:07:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 16:07:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:07:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:07:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:08:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:08:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:08:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:08:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:08:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:08:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:08:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/18 16:08:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/18 16:08:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:08:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:08:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 84 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:08:06 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.980s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:08:06 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.040[m] 9.365[deg]	[grasp_sample.py: 596]
+05/18 16:08:06 ERROR: [Worker 0] Worker 0 house 2 episode 27 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/18 16:08:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:08:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:08:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:08:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:08:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:08:08 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:08:08 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]
+05/18 16:08:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:08:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.038m, effective arm-mount z=0.822m (base_body_z=-0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 16:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.037590m	[env.py: 870]
+05/18 16:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:08:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 152.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.25310188 -0.53764221 -0.0375904 ] yaw=-176.9deg	[env.py: 1019]
+05/18 16:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.15630726 -0.11221895 -0.0375904 ] yaw=-126.4deg	[env.py: 1019]
+05/18 16:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.15614928 -0.65912572 -0.0375904 ] yaw=-177.6deg	[env.py: 1019]
+05/18 16:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 16:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:08:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=66.8ms, total=66.9ms	[env.py: 1075]
+05/18 16:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.253, -0.538, -0.038)	[env.py: 1079]
+05/18 16:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.9 deg	[env.py: 1082]
+05/18 16:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.904m	[env.py: 1086]
+05/18 16:08:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:08:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:08:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:08:08 INFO: [Worker 0] Worker 0 house 2 episode 28/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:08:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:08:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:08:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:08:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:08:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.676s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:08:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.464[m] 81.312[deg]	[grasp_sample.py: 596]
+05/18 16:08:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 16:08:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 16:08:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:08:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:08:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 16:08:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:09:16 INFO: [Worker 0] Worker 0 house 2 episode 28 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/18 16:09:31 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[pipeline.py: 1174]
+05/18 16:09:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_075 batch 1/1: 1 episodes	[pipeline.py: 238]
+05/18 16:09:31 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
+05/18 16:09:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/18 16:09:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[save_utils.py: 785]
+05/18 16:09:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_075 in 9.69s (batch: 2.45s, save: 7.24s)	[pipeline.py: 300]
+05/18 16:09:41 INFO: [Worker 0] [PROFILE] Episode 28 house 2 success=True episode_total=0.53s:
+  episode_total: mean=79.11s, total=158.23s, count=2, min=64947.7ms, max=93279.4ms
+  sensor_polling: mean=209.1ms, total=108.95s, count=521, min=188.6ms, max=502.8ms
+  save_trajectories: mean=7.24s, total=7.24s, count=1, min=7244.1ms, max=7244.1ms
+  physics_step: mean=13.6ms, total=7.11s, count=521, min=10.9ms, max=18.9ms
+  save_batch_prep: mean=2.45s, total=2.45s, count=1, min=2450.2ms, max=2450.2ms
+  task_sampling: mean=265.3ms, total=530.5ms, count=2, min=250.0ms, max=280.5ms
+  task_specific_sample: mean=262.1ms, total=524.3ms, count=2, min=247.4ms, max=276.8ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.0ms, max=2.6ms
+  mj_forward_sync: mean=333.3us, total=0.7ms, count=2, min=0.3ms, max=0.3ms
+  policy_setup: mean=14.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/18 16:09:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:09:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:09:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:09:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:09:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:09:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:09:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:09:42 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:09:42 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]
+05/18 16:09:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:09:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.025m, effective arm-mount z=0.835m (base_body_z=-0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 16:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024992m	[env.py: 870]
+05/18 16:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:09:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.07602822 -0.62891415 -0.02499189] yaw=-186.4deg	[env.py: 1019]
+05/18 16:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.00955503 -1.33048982 -0.02499189] yaw=176.4deg	[env.py: 1019]
+05/18 16:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.44293958 -0.16646924 -0.02499189] yaw=-143.7deg	[env.py: 1019]
+05/18 16:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 16:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:09:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=59.9ms, total=59.9ms	[env.py: 1075]
+05/18 16:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.076, -0.629, -0.025)	[env.py: 1079]
+05/18 16:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -186.4 deg	[env.py: 1082]
+05/18 16:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.186m	[env.py: 1086]
+05/18 16:09:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:09:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:09:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:09:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:09:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:09:43 INFO: [Worker 0] Worker 0 house 2 episode 29/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:09:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:09:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:09:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:09:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:09:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.036s, found feasible grasp: False	[grasp_sample.py: 557]
+05/18 16:09:45 ERROR: [Worker 0] Worker 0 house 2 episode 29 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/18 16:09:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:09:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:09:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:09:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:09:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:09:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:09:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:09:46 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:09:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/18 16:09:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:09:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.074m, effective arm-mount z=0.786m (base_body_z=-0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.073842m	[env.py: 870]
+05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:09:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.19192532 -0.77149079 -0.0738422 ] yaw=-149.4deg	[env.py: 1019]
+05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.05532192 -1.16705397 -0.0738422 ] yaw=151.5deg	[env.py: 1019]
+05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.18811359 -0.7264639  -0.0738422 ] yaw=-168.1deg	[env.py: 1019]
+05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:09:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=89.7ms, total=89.7ms	[env.py: 1075]
+05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.192, -0.771, -0.074)	[env.py: 1079]
+05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.4 deg	[env.py: 1082]
+05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m	[env.py: 1086]
+05/18 16:09:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:09:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:09:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:09:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:09:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:09:46 INFO: [Worker 0] Worker 0 house 2 episode 30/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:09:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:09:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:09:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:09:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:09:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.883s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:09:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.660[m] 93.250[deg]	[grasp_sample.py: 596]
+05/18 16:09:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 16:09:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 16:09:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:09:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/18 16:10:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:10:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:10:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 16:10:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:10:55 INFO: [Worker 0] Worker 0 house 2 episode 30 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/18 16:11:09 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[pipeline.py: 1174]
+05/18 16:11:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_075 batch 1/1: 1 episodes	[pipeline.py: 238]
+05/18 16:11:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/18 16:11:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/18 16:11:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[save_utils.py: 785]
+05/18 16:11:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_075 in 9.37s (batch: 2.43s, save: 6.94s)	[pipeline.py: 300]
+05/18 16:11:19 INFO: [Worker 0] [PROFILE] Episode 30 house 2 success=True episode_total=0.51s:
+  episode_total: mean=47.76s, total=95.52s, count=2, min=2406.2ms, max=93111.8ms
+  sensor_polling: mean=203.9ms, total=61.18s, count=300, min=188.4ms, max=440.7ms
+  save_trajectories: mean=6.94s, total=6.94s, count=1, min=6940.3ms, max=6940.3ms
+  physics_step: mean=14.0ms, total=4.19s, count=300, min=11.0ms, max=18.4ms
+  save_batch_prep: mean=2.43s, total=2.43s, count=1, min=2433.2ms, max=2433.2ms
+  task_sampling: mean=254.0ms, total=508.0ms, count=2, min=250.2ms, max=257.9ms
+  task_specific_sample: mean=251.4ms, total=502.9ms, count=2, min=247.3ms, max=255.6ms
+  scene_randomize: mean=1.3ms, total=2.7ms, count=2, min=0.9ms, max=1.8ms
+  mj_forward_sync: mean=337.8us, total=0.7ms, count=2, min=0.3ms, max=0.4ms
+  policy_setup: mean=14.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/18 16:11:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:11:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:11:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:11:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:11:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:11:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:11:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:11:20 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:11:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/18 16:11:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:11:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.074m, effective arm-mount z=0.786m (base_body_z=-0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 16:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.074337m	[env.py: 870]
+05/18 16:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:11:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.03145405 -0.7120698  -0.07433724] yaw=-193.8deg	[env.py: 1019]
+05/18 16:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.05325444 -0.49620258 -0.07433724] yaw=-165.4deg	[env.py: 1019]
+05/18 16:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:11:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 165.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.12812175 -1.38998538 -0.07433724] yaw=171.7deg	[env.py: 1019]
+05/18 16:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 16:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:11:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.8ms, total=104.8ms	[env.py: 1075]
+05/18 16:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.031, -0.712, -0.074)	[env.py: 1079]
+05/18 16:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -193.8 deg	[env.py: 1082]
+05/18 16:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m	[env.py: 1086]
+05/18 16:11:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:11:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:11:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:11:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:11:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:11:21 INFO: [Worker 0] Worker 0 house 2 episode 31/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:11:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:11:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:11:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:11:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:11:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.441s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:11:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.823[m] 57.616[deg]	[grasp_sample.py: 596]
+05/18 16:11:24 ERROR: [Worker 0] Worker 0 house 2 episode 31 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/18 16:11:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:11:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:11:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:11:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:11:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:11:25 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:11:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/18 16:11:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:11:25 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]
+05/18 16:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.081932m	[env.py: 870]
+05/18 16:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:11:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -79.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -83.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -155.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.10697306 -0.15402861 -0.08193157] yaw=-125.4deg	[env.py: 1019]
+05/18 16:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:11:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=131.6ms, total=131.6ms	[env.py: 1075]
+05/18 16:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.107, -0.154, -0.082)	[env.py: 1079]
+05/18 16:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.4 deg	[env.py: 1082]
+05/18 16:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.231m	[env.py: 1086]
+05/18 16:11:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:11:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:11:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:11:26 INFO: [Worker 0] Worker 0 house 2 episode 32/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:11:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:11:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:11:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:11:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:11:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.926s, found feasible grasp: False	[grasp_sample.py: 557]
+05/18 16:11:28 ERROR: [Worker 0] Worker 0 house 2 episode 32 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/18 16:11:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:11:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:11:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:11:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:11:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:11:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:11:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:11:29 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:11:29 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]
+05/18 16:11:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:11:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 16:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095586m	[env.py: 870]
+05/18 16:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:11:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.04531455 -0.6842841   0.09558619] yaw=-175.2deg	[env.py: 1019]
+05/18 16:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.08503661 -1.3468943   0.09558619] yaw=160.9deg	[env.py: 1019]
+05/18 16:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 137.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.19549311 -0.59117141  0.09558619] yaw=-170.0deg	[env.py: 1019]
+05/18 16:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 16:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:11:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=88.3ms, total=88.4ms	[env.py: 1075]
+05/18 16:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.045, -0.684, 0.096)	[env.py: 1079]
+05/18 16:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.2 deg	[env.py: 1082]
+05/18 16:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.143m	[env.py: 1086]
+05/18 16:11:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:11:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:11:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:11:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:11:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:11:29 INFO: [Worker 0] Worker 0 house 2 episode 33/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:11:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:11:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:11:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:11:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.034s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:11:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.943s, found feasible grasp: False	[grasp_sample.py: 557]
+05/18 16:11:31 ERROR: [Worker 0] Worker 0 house 2 episode 33 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/18 16:11:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:11:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:11:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:11:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:11:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:11:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:11:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:11:32 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:11:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/18 16:11:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:11:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.037m, effective arm-mount z=0.823m (base_body_z=-0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 16:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.037095m	[env.py: 870]
+05/18 16:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:11:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.10511283 -1.07628499 -0.03709496] yaw=164.6deg	[env.py: 1019]
+05/18 16:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.10300619 -1.0360203  -0.03709496] yaw=192.9deg	[env.py: 1019]
+05/18 16:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:11:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=133.2ms, total=133.3ms	[env.py: 1075]
+05/18 16:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.105, -1.076, -0.037)	[env.py: 1079]
+05/18 16:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.6 deg	[env.py: 1082]
+05/18 16:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m	[env.py: 1086]
+05/18 16:11:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:11:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:11:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:11:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:11:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:11:33 INFO: [Worker 0] Worker 0 house 2 episode 34/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:11:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:11:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:11:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:11:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:11:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.698s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:11:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.559[m] 76.514[deg]	[grasp_sample.py: 596]
+05/18 16:11:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 16:11:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 16:11:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:11:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/18 16:11:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:12:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 16:12:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:12:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:12:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:12:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:12:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:12:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:12:49 INFO: [Worker 0] Worker 0 house 2 episode 34 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/18 16:13:04 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[pipeline.py: 1174]
+05/18 16:13:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_075 batch 1/1: 1 episodes	[pipeline.py: 238]
+05/18 16:13:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/18 16:13:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/18 16:13:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[save_utils.py: 785]
+05/18 16:13:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_075 in 9.42s (batch: 2.50s, save: 6.92s)	[pipeline.py: 300]
+05/18 16:13:14 INFO: [Worker 0] [PROFILE] Episode 34 house 2 success=True episode_total=1.16s:
+  episode_total: mean=27.35s, total=109.41s, count=4, min=2281.7ms, max=101190.8ms
+  sensor_polling: mean=215.9ms, total=64.77s, count=300, min=195.1ms, max=461.2ms
+  save_trajectories: mean=6.92s, total=6.92s, count=1, min=6920.2ms, max=6920.2ms
+  physics_step: mean=14.2ms, total=4.26s, count=300, min=11.0ms, max=17.6ms
+  save_batch_prep: mean=2.50s, total=2.50s, count=1, min=2497.5ms, max=2497.5ms
+  task_sampling: mean=290.8ms, total=1.16s, count=4, min=257.3ms, max=305.8ms
+  task_specific_sample: mean=288.4ms, total=1.15s, count=4, min=255.3ms, max=303.4ms
+  scene_randomize: mean=1.2ms, total=5.0ms, count=4, min=0.9ms, max=2.4ms
+  mj_forward_sync: mean=325.8us, total=1.3ms, count=4, min=0.3ms, max=0.3ms
+  policy_setup: mean=13.0us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/18 16:13:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:13:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:13:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:13:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:13:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:13:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:13:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:13:15 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:13:15 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]
+05/18 16:13:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:13:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 16:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086762m	[env.py: 870]
+05/18 16:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:13:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.20132454 -0.59341096  0.08676223] yaw=-166.9deg	[env.py: 1019]
+05/18 16:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -99.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.20442957 -0.70503244  0.08676223] yaw=-154.8deg	[env.py: 1019]
+05/18 16:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.49162039 -0.23491613  0.08676223] yaw=-154.1deg	[env.py: 1019]
+05/18 16:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 16:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:13:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.1ms, total=119.1ms	[env.py: 1075]
+05/18 16:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.201, -0.593, 0.087)	[env.py: 1079]
+05/18 16:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.9 deg	[env.py: 1082]
+05/18 16:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m	[env.py: 1086]
+05/18 16:13:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:13:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:13:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:13:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:13:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:13:15 INFO: [Worker 0] Worker 0 house 2 episode 35/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:13:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:13:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:13:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:13:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:13:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.830s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:13:16 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.593[m] 98.181[deg]	[grasp_sample.py: 596]
+05/18 16:13:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 16:13:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 16:13:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:13:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/18 16:13:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:13:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 16:13:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:14:23 INFO: [Worker 0] Worker 0 house 2 episode 35 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/18 16:14:38 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[pipeline.py: 1174]
+05/18 16:14:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_075 batch 1/1: 1 episodes	[pipeline.py: 238]
+05/18 16:14:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/18 16:14:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/18 16:14:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[save_utils.py: 785]
+05/18 16:14:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_075 in 9.62s (batch: 2.44s, save: 7.18s)	[pipeline.py: 300]
+05/18 16:14:48 INFO: [Worker 0] [PROFILE] Episode 35 house 2 success=True episode_total=0.31s:
+  episode_total: mean=93.28s, total=93.28s, count=1, min=93276.4ms, max=93276.4ms
+  sensor_polling: mean=202.9ms, total=60.87s, count=300, min=187.6ms, max=427.7ms
+  save_trajectories: mean=7.18s, total=7.18s, count=1, min=7175.7ms, max=7175.7ms
+  physics_step: mean=14.4ms, total=4.32s, count=300, min=10.9ms, max=18.5ms
+  save_batch_prep: mean=2.44s, total=2.44s, count=1, min=2442.0ms, max=2442.0ms
+  task_sampling: mean=307.9ms, total=307.9ms, count=1, min=307.9ms, max=307.9ms
+  task_specific_sample: mean=304.2ms, total=304.2ms, count=1, min=304.2ms, max=304.2ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=335.8us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=16.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/18 16:14:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:14:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:14:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:14:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:14:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:14:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:14:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:14:49 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:14:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/18 16:14:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:14:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 16:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075990m	[env.py: 870]
+05/18 16:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:14:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 129.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.51043316 -0.20781398  0.07599021] yaw=-145.9deg	[env.py: 1019]
+05/18 16:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.15688762 -0.87778494  0.07599021] yaw=-184.0deg	[env.py: 1019]
+05/18 16:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:14:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=137.1ms, total=137.2ms	[env.py: 1075]
+05/18 16:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.510, -0.208, 0.076)	[env.py: 1079]
+05/18 16:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.9 deg	[env.py: 1082]
+05/18 16:14:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.905m	[env.py: 1086]
+05/18 16:14:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:14:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:14:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:14:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:14:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:14:50 INFO: [Worker 0] Worker 0 house 2 episode 36/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:14:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:14:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:14:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:14:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:14:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.038s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:14:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.658[m] 83.085[deg]	[grasp_sample.py: 596]
+05/18 16:14:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 16:14:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 16:14:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:15:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:15:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 16:15:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:15:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:15:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:15:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:15:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:15:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:15:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:15:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:15:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:15:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/18 16:15:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/18 16:15:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:15:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:15:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 74 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:15:59 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.972s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:15:59 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.746[deg]	[grasp_sample.py: 596]
+05/18 16:16:00 ERROR: [Worker 0] Worker 0 house 2 episode 36 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/18 16:16:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:16:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:16:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:16:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:16:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:16:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:16:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:16:01 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:16:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/18 16:16:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:16:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 16:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075949m	[env.py: 870]
+05/18 16:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:16:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.18265586 -1.34063184  0.07594859] yaw=153.2deg	[env.py: 1019]
+05/18 16:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.33641526 -0.1948725   0.07594859] yaw=-138.7deg	[env.py: 1019]
+05/18 16:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.14513568 -0.35966109  0.07594859] yaw=-165.8deg	[env.py: 1019]
+05/18 16:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 16:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:16:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=53.6ms, total=53.6ms	[env.py: 1075]
+05/18 16:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.183, -1.341, 0.076)	[env.py: 1079]
+05/18 16:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.2 deg	[env.py: 1082]
+05/18 16:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m	[env.py: 1086]
+05/18 16:16:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:16:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:16:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:16:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:16:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:16:01 INFO: [Worker 0] Worker 0 house 2 episode 37/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:16:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:16:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:16:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:16:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:16:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.948s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:16:02 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.621[m] 97.249[deg]	[grasp_sample.py: 596]
+05/18 16:16:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 16:16:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 16:16:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:16:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/18 16:16:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:16:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 16:16:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:16:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:17:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:17:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:17:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:17:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:17:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:17:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:17:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:17:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/18 16:17:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/18 16:17:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:17:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:17:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 84 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:17:06 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.428s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:17:06 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.037[m] 8.490[deg]	[grasp_sample.py: 596]
+05/18 16:17:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 16:17:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 16:17:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:17:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:17:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 16:17:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:17:17 INFO: [Worker 0] Worker 0 house 2 episode 37 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/18 16:17:31 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[pipeline.py: 1174]
+05/18 16:17:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_075 batch 1/1: 1 episodes	[pipeline.py: 238]
+05/18 16:17:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/18 16:17:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/18 16:17:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[save_utils.py: 785]
+05/18 16:17:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_075 in 9.32s (batch: 2.50s, save: 6.82s)	[pipeline.py: 300]
+05/18 16:17:41 INFO: [Worker 0] [PROFILE] Episode 37 house 2 success=True episode_total=0.56s:
+  episode_total: mean=85.06s, total=170.12s, count=2, min=70207.5ms, max=99914.1ms
+  sensor_polling: mean=207.8ms, total=116.37s, count=560, min=187.4ms, max=473.8ms
+  physics_step: mean=13.5ms, total=7.55s, count=560, min=10.0ms, max=28.6ms
+  save_trajectories: mean=6.82s, total=6.82s, count=1, min=6820.4ms, max=6820.4ms
+  save_batch_prep: mean=2.50s, total=2.50s, count=1, min=2501.6ms, max=2501.6ms
+  task_sampling: mean=281.4ms, total=562.9ms, count=2, min=235.5ms, max=327.4ms
+  task_specific_sample: mean=278.6ms, total=557.3ms, count=2, min=232.4ms, max=324.8ms
+  scene_randomize: mean=1.6ms, total=3.1ms, count=2, min=1.5ms, max=1.6ms
+  mj_forward_sync: mean=320.2us, total=0.6ms, count=2, min=0.3ms, max=0.3ms
+  policy_setup: mean=14.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/18 16:17:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:17:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:17:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:17:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:17:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:17:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:17:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:17:42 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:17:42 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]
+05/18 16:17:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:17:42 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]
+05/18 16:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.005060m	[env.py: 870]
+05/18 16:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:17:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.11548964 -0.86951459 -0.00505993] yaw=-152.1deg	[env.py: 1019]
+05/18 16:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.45891602 -0.01936558 -0.00505993] yaw=-128.2deg	[env.py: 1019]
+05/18 16:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.19475128 -0.59170177 -0.00505993] yaw=-171.9deg	[env.py: 1019]
+05/18 16:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 16:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:17:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.7ms, total=84.7ms	[env.py: 1075]
+05/18 16:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.115, -0.870, -0.005)	[env.py: 1079]
+05/18 16:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.1 deg	[env.py: 1082]
+05/18 16:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.191m	[env.py: 1086]
+05/18 16:17:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:17:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:17:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:17:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:17:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:17:42 INFO: [Worker 0] Worker 0 house 2 episode 38/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:17:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:17:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:17:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:17:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:17:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.973s, found feasible grasp: False	[grasp_sample.py: 557]
+05/18 16:17:44 ERROR: [Worker 0] Worker 0 house 2 episode 38 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/18 16:17:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:17:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:17:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:17:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:17:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:17:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:17:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:17:46 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:17:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/18 16:17:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:17:46 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]
+05/18 16:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.042327m	[env.py: 870]
+05/18 16:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:17:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.29701032 -0.54152131 -0.04232748] yaw=-165.3deg	[env.py: 1019]
+05/18 16:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 167.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.0872858  -0.65709559 -0.04232748] yaw=-178.3deg	[env.py: 1019]
+05/18 16:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.1598937  -1.10416899 -0.04232748] yaw=164.4deg	[env.py: 1019]
+05/18 16:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 16:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:17:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=113.4ms, total=113.4ms	[env.py: 1075]
+05/18 16:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.297, -0.542, -0.042)	[env.py: 1079]
+05/18 16:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.3 deg	[env.py: 1082]
+05/18 16:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m	[env.py: 1086]
+05/18 16:17:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:17:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:17:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:17:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:17:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:17:46 INFO: [Worker 0] Worker 0 house 2 episode 39/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:17:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:17:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:17:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:17:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:17:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.625s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:17:47 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.680[m] 111.005[deg]	[grasp_sample.py: 596]
+05/18 16:17:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 16:17:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 16:17:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:17:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/18 16:18:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:18:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 16:18:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:18:58 INFO: [Worker 0] Worker 0 house 2 episode 39 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/18 16:19:13 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[pipeline.py: 1174]
+05/18 16:19:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_075 batch 1/1: 1 episodes	[pipeline.py: 238]
+05/18 16:19:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/18 16:19:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/18 16:19:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[save_utils.py: 785]
+05/18 16:19:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_075 in 9.52s (batch: 2.48s, save: 7.04s)	[pipeline.py: 300]
+05/18 16:19:23 INFO: [Worker 0] [PROFILE] Episode 39 house 2 success=True episode_total=0.56s:
+  episode_total: mean=49.54s, total=99.08s, count=2, min=2341.7ms, max=96741.1ms
+  sensor_polling: mean=216.6ms, total=64.97s, count=300, min=193.1ms, max=444.7ms
+  save_trajectories: mean=7.04s, total=7.04s, count=1, min=7035.3ms, max=7035.3ms
+  physics_step: mean=14.9ms, total=4.48s, count=300, min=11.0ms, max=39.1ms
+  save_batch_prep: mean=2.48s, total=2.48s, count=1, min=2481.5ms, max=2481.5ms
+  task_sampling: mean=278.7ms, total=557.3ms, count=2, min=273.8ms, max=283.5ms
+  task_specific_sample: mean=276.1ms, total=552.3ms, count=2, min=271.1ms, max=281.2ms
+  scene_randomize: mean=1.3ms, total=2.5ms, count=2, min=0.9ms, max=1.6ms
+  mj_forward_sync: mean=323.8us, total=0.6ms, count=2, min=0.3ms, max=0.3ms
+  policy_setup: mean=14.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/18 16:19:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:19:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:19:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:19:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:19:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:19:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:19:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:19:24 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:19:24 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]
+05/18 16:19:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:19:24 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]
+05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.089318m	[env.py: 870]
+05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:19:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.55651218 -0.20165275 -0.08931815] yaw=-114.0deg	[env.py: 1019]
+05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 154.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.01133017 -0.72413249 -0.08931815] yaw=-143.2deg	[env.py: 1019]
+05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.18342034 -0.60262663 -0.08931815] yaw=-173.6deg	[env.py: 1019]
+05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:19:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=95.6ms, total=95.7ms	[env.py: 1075]
+05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.557, -0.202, -0.089)	[env.py: 1079]
+05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -114.0 deg	[env.py: 1082]
+05/18 16:19:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m	[env.py: 1086]
+05/18 16:19:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:19:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:19:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:19:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:19:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:19:24 INFO: [Worker 0] Worker 0 house 2 episode 40/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:19:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:19:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:19:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:19:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:19:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.767s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:19:28 INFO: [Worker 0] Feasible grasp found 151 (originally 36): w/ 0.490[m] 107.874[deg]	[grasp_sample.py: 596]
+05/18 16:19:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 16:19:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 16:19:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:19:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:19:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 16:19:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:20:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:20:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:20:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:20:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:20:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:20:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:20:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:20:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:20:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/18 16:20:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/18 16:20:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:20:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:20:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 80 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:20:23 INFO: [Worker 0] Feasibility-checked 80 grasps in 2.781s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:20:23 INFO: [Worker 0] Feasible grasp found 225 (originally 110): w/ 0.247[m] 13.008[deg]	[grasp_sample.py: 596]
+05/18 16:20:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 16:20:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 16:20:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:20:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:20:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:20:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:20:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:20:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:20:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:20:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:20:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:20:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/18 16:20:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/18 16:20:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:20:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:20:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 84 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:20:36 INFO: [Worker 0] Feasibility-checked 84 grasps in 2.733s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:20:36 INFO: [Worker 0] Feasible grasp found 162 (originally 47): w/ 0.052[m] 23.033[deg]	[grasp_sample.py: 596]
+05/18 16:20:37 ERROR: [Worker 0] Worker 0 house 2 episode 40 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/18 16:20:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:20:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:20:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:20:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:20:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:20:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:20:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:20:39 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:20:39 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]
+05/18 16:20:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:20:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044496m	[env.py: 870]
+05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:20:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.04435565 -1.13798025  0.04449559] yaw=160.6deg	[env.py: 1019]
+05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.02748048 -1.24101389  0.04449559] yaw=149.8deg	[env.py: 1019]
+05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.03434351 -0.62269934  0.04449559] yaw=-162.7deg	[env.py: 1019]
+05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:20:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.1ms, total=92.1ms	[env.py: 1075]
+05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.044, -1.138, 0.044)	[env.py: 1079]
+05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.6 deg	[env.py: 1082]
+05/18 16:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.141m	[env.py: 1086]
+05/18 16:20:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:20:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:20:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:20:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:20:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:20:39 INFO: [Worker 0] Worker 0 house 2 episode 41/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:20:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:20:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:20:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:20:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:20:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.979s, found feasible grasp: False	[grasp_sample.py: 557]
+05/18 16:20:41 ERROR: [Worker 0] Worker 0 house 2 episode 41 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/18 16:20:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:20:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:20:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:20:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:20:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:20:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:20:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:20:42 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:20:42 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]
+05/18 16:20:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:20:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.056m, effective arm-mount z=0.804m (base_body_z=-0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 16:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.056235m	[env.py: 870]
+05/18 16:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:20:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.01007927 -1.11974267 -0.05623501] yaw=175.1deg	[env.py: 1019]
+05/18 16:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 141.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.19956222 -0.32281253 -0.05623501] yaw=-131.1deg	[env.py: 1019]
+05/18 16:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.27993313 -0.41990139 -0.05623501] yaw=-169.9deg	[env.py: 1019]
+05/18 16:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 16:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:20:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.2ms, total=128.2ms	[env.py: 1075]
+05/18 16:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.010, -1.120, -0.056)	[env.py: 1079]
+05/18 16:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.1 deg	[env.py: 1082]
+05/18 16:20:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.103m	[env.py: 1086]
+05/18 16:20:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:20:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:20:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:20:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:20:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:20:43 INFO: [Worker 0] Worker 0 house 2 episode 42/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:20:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:20:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:20:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:20:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:20:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.850s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:20:46 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.667[m] 111.253[deg]	[grasp_sample.py: 596]
+05/18 16:20:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 16:20:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 16:20:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:20:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/18 16:21:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:21:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 16:21:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:21:53 INFO: [Worker 0] Worker 0 house 2 episode 42 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/18 16:22:07 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[pipeline.py: 1174]
+05/18 16:22:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_075 batch 1/1: 1 episodes	[pipeline.py: 238]
+05/18 16:22:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/18 16:22:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/18 16:22:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[save_utils.py: 785]
+05/18 16:22:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_075 in 9.46s (batch: 2.52s, save: 6.94s)	[pipeline.py: 300]
+05/18 16:22:17 INFO: [Worker 0] [PROFILE] Episode 42 house 2 success=True episode_total=0.87s:
+  episode_total: mean=56.87s, total=170.61s, count=3, min=2332.1ms, max=94885.9ms
+  sensor_polling: mean=205.5ms, total=108.28s, count=527, min=189.0ms, max=505.6ms
+  physics_step: mean=13.9ms, total=7.35s, count=527, min=10.9ms, max=28.8ms
+  save_trajectories: mean=6.94s, total=6.94s, count=1, min=6937.2ms, max=6937.2ms
+  save_batch_prep: mean=2.52s, total=2.52s, count=1, min=2523.6ms, max=2523.6ms
+  task_sampling: mean=288.9ms, total=866.6ms, count=3, min=270.3ms, max=310.7ms
+  task_specific_sample: mean=286.1ms, total=858.3ms, count=3, min=267.9ms, max=307.7ms
+  scene_randomize: mean=1.2ms, total=3.7ms, count=3, min=0.9ms, max=1.8ms
+  mj_forward_sync: mean=322.0us, total=1.0ms, count=3, min=0.3ms, max=0.3ms
+  policy_setup: mean=13.6us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/18 16:22:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:22:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:22:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:22:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:22:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:22:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:22:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:22:18 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:22:18 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]
+05/18 16:22:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:22:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.069m, effective arm-mount z=0.791m (base_body_z=-0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 16:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.068969m	[env.py: 870]
+05/18 16:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:22:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 127.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 152.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -86.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -99.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -95.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.05629965 -1.11774985 -0.0689686 ] yaw=147.4deg	[env.py: 1019]
+05/18 16:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.01695217 -0.90138961 -0.0689686 ] yaw=-166.8deg	[env.py: 1019]
+05/18 16:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:22:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=139.8ms, total=139.8ms	[env.py: 1075]
+05/18 16:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.056, -1.118, -0.069)	[env.py: 1079]
+05/18 16:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 147.4 deg	[env.py: 1082]
+05/18 16:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m	[env.py: 1086]
+05/18 16:22:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:22:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:22:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:22:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:22:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:22:19 INFO: [Worker 0] Worker 0 house 2 episode 43/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:22:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:22:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:22:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:22:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:22:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.421s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:22:20 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.649[m] 85.208[deg]	[grasp_sample.py: 596]
+05/18 16:22:21 ERROR: [Worker 0] Worker 0 house 2 episode 43 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/18 16:22:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:22:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:22:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:22:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:22:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:22:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:22:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:22:22 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:22:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/18 16:22:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:22:22 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]
+05/18 16:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096872m	[env.py: 870]
+05/18 16:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:22:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.39563686 -0.01906422  0.09687241] yaw=-140.4deg	[env.py: 1019]
+05/18 16:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.09814863 -1.23869573  0.09687241] yaw=166.0deg	[env.py: 1019]
+05/18 16:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:22:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=135.2ms, total=135.2ms	[env.py: 1075]
+05/18 16:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.396, -0.019, 0.097)	[env.py: 1079]
+05/18 16:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.4 deg	[env.py: 1082]
+05/18 16:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.125m	[env.py: 1086]
+05/18 16:22:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:22:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:22:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:22:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:22:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:22:23 INFO: [Worker 0] Worker 0 house 2 episode 44/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:22:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:22:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:22:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:22:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.034s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:22:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.983s, found feasible grasp: False	[grasp_sample.py: 557]
+05/18 16:22:25 ERROR: [Worker 0] Worker 0 house 2 episode 44 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/18 16:22:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:22:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:22:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:22:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:22:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:22:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:22:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:22:26 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:22:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/18 16:22:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:22:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.007m, effective arm-mount z=0.853m (base_body_z=-0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 16:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.007395m	[env.py: 870]
+05/18 16:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:22:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.18985611 -0.20268469 -0.00739537] yaw=-140.3deg	[env.py: 1019]
+05/18 16:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -79.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 147.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 151.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.30691987 -0.32783984 -0.00739537] yaw=-154.6deg	[env.py: 1019]
+05/18 16:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.30533794 -0.51454721 -0.00739537] yaw=-125.5deg	[env.py: 1019]
+05/18 16:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 16:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:22:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.1ms, total=125.1ms	[env.py: 1075]
+05/18 16:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.190, -0.203, -0.007)	[env.py: 1079]
+05/18 16:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.3 deg	[env.py: 1082]
+05/18 16:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.136m	[env.py: 1086]
+05/18 16:22:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:22:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:22:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:22:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:22:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:22:26 INFO: [Worker 0] Worker 0 house 2 episode 45/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:22:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:22:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:22:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:22:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:22:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.923s, found feasible grasp: False	[grasp_sample.py: 557]
+05/18 16:22:28 ERROR: [Worker 0] Worker 0 house 2 episode 45 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/18 16:22:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:22:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:22:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:22:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:22:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:22:30 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:22:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/18 16:22:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:22:30 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]
+05/18 16:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072548m	[env.py: 870]
+05/18 16:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:22:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.15643371 -0.97055309  0.07254759] yaw=183.0deg	[env.py: 1019]
+05/18 16:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.2861317  -0.41556614  0.07254759] yaw=-157.3deg	[env.py: 1019]
+05/18 16:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -156.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:22:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=136.3ms, total=136.3ms	[env.py: 1075]
+05/18 16:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.156, -0.971, 0.073)	[env.py: 1079]
+05/18 16:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 183.0 deg	[env.py: 1082]
+05/18 16:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.232m	[env.py: 1086]
+05/18 16:22:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:22:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:22:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:22:30 INFO: [Worker 0] Worker 0 house 2 episode 46/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:22:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:22:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:22:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:22:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:22:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.986s, found feasible grasp: False	[grasp_sample.py: 557]
+05/18 16:22:32 ERROR: [Worker 0] Worker 0 house 2 episode 46 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/18 16:22:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:22:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:22:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:22:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:22:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:22:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:22:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:22:33 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:22:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/18 16:22:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:22:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 16:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016986m	[env.py: 870]
+05/18 16:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:22:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -93.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -89.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.43842807 -0.02884567  0.01698646] yaw=-115.0deg	[env.py: 1019]
+05/18 16:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.11863368 -1.16469219  0.01698646] yaw=178.3deg	[env.py: 1019]
+05/18 16:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.3457199  -0.29747578  0.01698646] yaw=-160.4deg	[env.py: 1019]
+05/18 16:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 16:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:22:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.3ms, total=137.4ms	[env.py: 1075]
+05/18 16:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.438, -0.029, 0.017)	[env.py: 1079]
+05/18 16:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -115.0 deg	[env.py: 1082]
+05/18 16:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m	[env.py: 1086]
+05/18 16:22:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:22:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:22:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:22:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:22:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:22:34 INFO: [Worker 0] Worker 0 house 2 episode 47/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:22:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:22:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:22:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:22:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:22:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.029s, found feasible grasp: False	[grasp_sample.py: 557]
+05/18 16:22:36 ERROR: [Worker 0] Worker 0 house 2 episode 47 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/18 16:22:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:22:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:22:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:22:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:22:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:22:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:22:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:22:37 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:22:37 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]
+05/18 16:22:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:22:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 16:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057728m	[env.py: 870]
+05/18 16:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:22:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.00553475 -0.90815469  0.05772804] yaw=-153.6deg	[env.py: 1019]
+05/18 16:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 136.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -89.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.23055516 -1.03122274  0.05772804] yaw=149.5deg	[env.py: 1019]
+05/18 16:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 169.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.01870641 -0.5531138   0.05772804] yaw=-136.4deg	[env.py: 1019]
+05/18 16:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 16:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:22:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.7ms, total=125.8ms	[env.py: 1075]
+05/18 16:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.006, -0.908, 0.058)	[env.py: 1079]
+05/18 16:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.6 deg	[env.py: 1082]
+05/18 16:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m	[env.py: 1086]
+05/18 16:22:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:22:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:22:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:22:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:22:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:22:37 INFO: [Worker 0] Worker 0 house 2 episode 48/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:22:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:22:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:22:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:22:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.034s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:22:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.408s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:22:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.925[m] 90.540[deg]	[grasp_sample.py: 596]
+05/18 16:22:40 ERROR: [Worker 0] Worker 0 house 2 episode 48 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/18 16:22:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:22:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:22:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:22:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:22:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:22:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:22:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:22:41 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:22:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/18 16:22:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:22:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076139m	[env.py: 870]
+05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:22:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -99.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.36353486 -0.31069472  0.07613866] yaw=-164.7deg	[env.py: 1019]
+05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 116.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.12010851 -0.56610814  0.07613866] yaw=-167.0deg	[env.py: 1019]
+05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.16165611 -1.06796064  0.07613866] yaw=164.6deg	[env.py: 1019]
+05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:22:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.4ms, total=114.4ms	[env.py: 1075]
+05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.364, -0.311, 0.076)	[env.py: 1079]
+05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.7 deg	[env.py: 1082]
+05/18 16:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m	[env.py: 1086]
+05/18 16:22:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:22:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:22:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:22:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:22:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:22:41 INFO: [Worker 0] Worker 0 house 2 episode 49/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:22:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:22:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:22:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:22:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:22:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.926s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:22:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.563[m] 111.175[deg]	[grasp_sample.py: 596]
+05/18 16:22:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 16:22:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 16:22:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:22:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/18 16:23:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:23:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 16:23:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:23:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:23:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:23:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:23:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:23:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:23:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:23:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:23:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:23:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/18 16:23:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/18 16:23:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:23:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:23:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 74 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:23:54 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.011s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:23:54 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.495[deg]	[grasp_sample.py: 596]
+05/18 16:23:54 ERROR: [Worker 0] Worker 0 house 2 episode 49 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/18 16:23:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:23:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:23:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:23:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:23:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:23:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:23:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:23:56 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:23:56 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]
+05/18 16:23:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:23:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 16:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074978m	[env.py: 870]
+05/18 16:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:23:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 151.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.36110256  0.16209638  0.07497788] yaw=-116.0deg	[env.py: 1019]
+05/18 16:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.05941777 -0.95406714  0.07497788] yaw=200.3deg	[env.py: 1019]
+05/18 16:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.08307447 -1.39105171  0.07497788] yaw=145.2deg	[env.py: 1019]
+05/18 16:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 16:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:23:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=130.9ms, total=131.0ms	[env.py: 1075]
+05/18 16:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.361, 0.162, 0.075)	[env.py: 1079]
+05/18 16:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -116.0 deg	[env.py: 1082]
+05/18 16:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.293m	[env.py: 1086]
+05/18 16:23:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:23:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:23:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:23:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:23:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:23:56 INFO: [Worker 0] Worker 0 house 2 episode 50/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:23:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:23:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:23:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:23:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:23:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.005s, found feasible grasp: False	[grasp_sample.py: 557]
+05/18 16:23:58 ERROR: [Worker 0] Worker 0 house 2 episode 50 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/18 16:24:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:24:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:24:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:24:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:24:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:24:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:24:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:24:00 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:24:00 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]
+05/18 16:24:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:24:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.012m, effective arm-mount z=0.848m (base_body_z=-0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 16:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011795m	[env.py: 870]
+05/18 16:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:24:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -147.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.36557547 -0.3537583  -0.01179451] yaw=-166.5deg	[env.py: 1019]
+05/18 16:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.07290116 -0.90837593 -0.01179451] yaw=-188.9deg	[env.py: 1019]
+05/18 16:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.04489351 -0.96546032 -0.01179451] yaw=151.0deg	[env.py: 1019]
+05/18 16:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 16:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:24:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=94.2ms, total=94.2ms	[env.py: 1075]
+05/18 16:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.366, -0.354, -0.012)	[env.py: 1079]
+05/18 16:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.5 deg	[env.py: 1082]
+05/18 16:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.905m	[env.py: 1086]
+05/18 16:24:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:24:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:24:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:24:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:24:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:24:00 INFO: [Worker 0] Worker 0 house 2 episode 51/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:24:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:24:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:24:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:24:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:24:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.941s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:24:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.471[m] 105.193[deg]	[grasp_sample.py: 596]
+05/18 16:24:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 16:24:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 16:24:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:24:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/18 16:24:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:24:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 16:24:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:25:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:25:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:25:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:25:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:25:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:25:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:25:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:25:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:25:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/18 16:25:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/18 16:25:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:25:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:25:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 74 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:25:12 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.972s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:25:12 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.053[m] 10.308[deg]	[grasp_sample.py: 596]
+05/18 16:25:13 ERROR: [Worker 0] Worker 0 house 2 episode 51 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/18 16:25:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:25:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:25:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:25:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:25:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:25:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:25:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:25:15 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:25:15 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]
+05/18 16:25:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:25:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.066m, effective arm-mount z=0.794m (base_body_z=-0.066m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 16:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.066246m	[env.py: 870]
+05/18 16:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:25:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.08375245 -0.86139382 -0.06624572] yaw=-154.1deg	[env.py: 1019]
+05/18 16:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 135.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.58057931 -0.17985796 -0.06624572] yaw=-107.6deg	[env.py: 1019]
+05/18 16:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.00790106 -0.47860684 -0.06624572] yaw=-163.6deg	[env.py: 1019]
+05/18 16:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 16:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:25:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.4ms, total=119.4ms	[env.py: 1075]
+05/18 16:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.084, -0.861, -0.066)	[env.py: 1079]
+05/18 16:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.1 deg	[env.py: 1082]
+05/18 16:25:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m	[env.py: 1086]
+05/18 16:25:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:25:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:25:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:25:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:25:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:25:15 INFO: [Worker 0] Worker 0 house 2 episode 52/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:25:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:25:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:25:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:25:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:25:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.552s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:25:16 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.542[m] 75.894[deg]	[grasp_sample.py: 596]
+05/18 16:25:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 16:25:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 16:25:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:25:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/18 16:25:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:25:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:25:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:25:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:25:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:25:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:25:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 16:25:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:25:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:25:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:26:31 INFO: [Worker 0] Worker 0 house 2 episode 52 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/18 16:26:45 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[pipeline.py: 1174]
+05/18 16:26:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_075 batch 1/1: 1 episodes	[pipeline.py: 238]
+05/18 16:26:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/18 16:26:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/18 16:26:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[save_utils.py: 785]
+05/18 16:26:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_075 in 9.25s (batch: 2.51s, save: 6.74s)	[pipeline.py: 300]
+05/18 16:26:55 INFO: [Worker 0] [PROFILE] Episode 52 house 2 success=True episode_total=3.01s:
+  episode_total: mean=26.42s, total=264.24s, count=10, min=2313.1ms, max=100018.6ms
+  sensor_polling: mean=204.1ms, total=173.89s, count=852, min=187.1ms, max=490.7ms
+  physics_step: mean=13.8ms, total=11.79s, count=852, min=10.8ms, max=20.6ms
+  save_trajectories: mean=6.74s, total=6.74s, count=1, min=6743.8ms, max=6743.8ms
+  task_sampling: mean=301.1ms, total=3.01s, count=10, min=272.4ms, max=332.5ms
+  task_specific_sample: mean=298.7ms, total=2.99s, count=10, min=268.9ms, max=329.0ms
+  save_batch_prep: mean=2.51s, total=2.51s, count=1, min=2508.5ms, max=2508.5ms
+  scene_randomize: mean=1.1ms, total=11.1ms, count=10, min=0.9ms, max=2.3ms
+  mj_forward_sync: mean=326.7us, total=3.3ms, count=10, min=0.3ms, max=0.4ms
+  policy_setup: mean=14.3us, total=0.1ms, count=10, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/18 16:26:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:26:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:26:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:26:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:26:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:26:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:26:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:26:56 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:26:56 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]
+05/18 16:26:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:26:56 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]
+05/18 16:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097418m	[env.py: 870]
+05/18 16:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:26:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 149.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.03108703 -0.99498585  0.09741782] yaw=189.3deg	[env.py: 1019]
+05/18 16:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.02380081 -0.8919699   0.09741782] yaw=-165.1deg	[env.py: 1019]
+05/18 16:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -81.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.10697556 -1.20658347  0.09741782] yaw=171.6deg	[env.py: 1019]
+05/18 16:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 16:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:26:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=95.2ms, total=95.2ms	[env.py: 1075]
+05/18 16:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.031, -0.995, 0.097)	[env.py: 1079]
+05/18 16:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 189.3 deg	[env.py: 1082]
+05/18 16:26:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m	[env.py: 1086]
+05/18 16:26:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:26:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:26:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:26:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:26:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:26:56 INFO: [Worker 0] Worker 0 house 2 episode 53/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:26:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:26:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:26:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:26:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:26:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.960s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:26:57 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.674[m] 100.587[deg]	[grasp_sample.py: 596]
+05/18 16:26:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 16:26:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 16:26:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:26:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/18 16:27:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:27:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:27:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:27:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:27:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:27:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:27:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:27:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:27:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/18 16:27:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/18 16:27:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:27:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:27:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:27:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.729s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:27:35 INFO: [Worker 0] Feasible grasp found 102 (originally 102): w/ 0.126[m] 17.915[deg]	[grasp_sample.py: 596]
+05/18 16:27:36 ERROR: [Worker 0] Worker 0 house 2 episode 53 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/18 16:27:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:27:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:27:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:27:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:27:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:27:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:27:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:27:37 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:27:37 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]
+05/18 16:27:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:27:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.059m, effective arm-mount z=0.801m (base_body_z=-0.059m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.058629m	[env.py: 870]
+05/18 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:27:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.3935394  -0.33862777 -0.05862908] yaw=-127.8deg	[env.py: 1019]
+05/18 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 142.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.42585923 -0.33720029 -0.05862908] yaw=-136.2deg	[env.py: 1019]
+05/18 16:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:27:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=136.9ms, total=137.0ms	[env.py: 1075]
+05/18 16:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.394, -0.339, -0.059)	[env.py: 1079]
+05/18 16:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.8 deg	[env.py: 1082]
+05/18 16:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m	[env.py: 1086]
+05/18 16:27:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:27:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:27:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:27:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:27:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:27:38 INFO: [Worker 0] Worker 0 house 2 episode 54/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:27:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:27:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:27:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:27:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:27:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.619s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:27:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.524[m] 85.660[deg]	[grasp_sample.py: 596]
+05/18 16:27:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 16:27:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 16:27:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:28:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:28:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 16:28:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:28:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:28:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:28:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:28:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:28:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:28:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:28:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:28:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/18 16:28:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/18 16:28:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/18 16:28:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:28:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:28:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 72 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:28:52 INFO: [Worker 0] Feasibility-checked 72 grasps in 2.002s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:28:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.064[m] 25.463[deg]	[grasp_sample.py: 596]
+05/18 16:28:53 ERROR: [Worker 0] Worker 0 house 2 episode 54 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/18 16:28:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:28:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:28:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:28:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:28:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:28:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:28:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:28:54 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:28:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/18 16:28:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:28:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 16:28:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:28:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:28:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052740m	[env.py: 870]
+05/18 16:28:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:28:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:28:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:28:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:28:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:28:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.19254156 -0.929776    0.05273985] yaw=196.6deg	[env.py: 1019]
+05/18 16:28:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:28:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:28:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.1555108  -0.74764849  0.05273985] yaw=-194.6deg	[env.py: 1019]
+05/18 16:28:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:28:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.03959885 -0.99073624  0.05273985] yaw=203.3deg	[env.py: 1019]
+05/18 16:28:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 16:28:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:28:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=118.6ms, total=118.6ms	[env.py: 1075]
+05/18 16:28:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.193, -0.930, 0.053)	[env.py: 1079]
+05/18 16:28:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 196.6 deg	[env.py: 1082]
+05/18 16:28:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.267m	[env.py: 1086]
+05/18 16:28:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:28:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:28:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:28:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:28:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:28:54 INFO: [Worker 0] Worker 0 house 2 episode 55/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:28:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:28:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:28:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:28:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:28:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.957s, found feasible grasp: False	[grasp_sample.py: 557]
+05/18 16:28:56 ERROR: [Worker 0] Worker 0 house 2 episode 55 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/18 16:28:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:28:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:28:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:28:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:28:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:28:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:28:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:28:58 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:28:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/18 16:28:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:28:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.096m, effective arm-mount z=0.764m (base_body_z=-0.096m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 16:28:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:28:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:28:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.096101m	[env.py: 870]
+05/18 16:28:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:28:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:28:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:28:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:28:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 138.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:28:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:28:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:28:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:28:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.00281745 -0.60082857 -0.09610149] yaw=-170.0deg	[env.py: 1019]
+05/18 16:28:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:28:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:28:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=134.8ms, total=134.9ms	[env.py: 1075]
+05/18 16:28:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.003, -0.601, -0.096)	[env.py: 1079]
+05/18 16:28:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.0 deg	[env.py: 1082]
+05/18 16:28:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.117m	[env.py: 1086]
+05/18 16:28:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:28:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:28:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:28:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:28:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:28:58 INFO: [Worker 0] Worker 0 house 2 episode 56/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:28:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:28:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:28:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:28:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:29:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.603s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:29:02 INFO: [Worker 0] Feasible grasp found 60 (originally 60): w/ 0.809[m] 97.363[deg]	[grasp_sample.py: 596]
+05/18 16:29:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 16:29:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 16:29:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:29:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/18 16:29:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:29:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 16:29:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:30:09 INFO: [Worker 0] Worker 0 house 2 episode 56 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/18 16:30:24 INFO: [Worker 0] Saved videos eagerly for episode 20 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[pipeline.py: 1174]
+05/18 16:30:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_075 batch 1/1: 1 episodes	[pipeline.py: 238]
+05/18 16:30:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/18 16:30:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/18 16:30:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[save_utils.py: 785]
+05/18 16:30:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_075 in 9.57s (batch: 2.53s, save: 7.03s)	[pipeline.py: 300]
+05/18 16:30:34 INFO: [Worker 0] [PROFILE] Episode 56 house 2 success=True episode_total=1.21s:
+  episode_total: mean=53.44s, total=213.77s, count=4, min=2337.5ms, max=96146.2ms
+  sensor_polling: mean=203.2ms, total=145.70s, count=717, min=184.9ms, max=518.4ms
+  physics_step: mean=13.6ms, total=9.74s, count=717, min=10.9ms, max=25.2ms
+  save_trajectories: mean=7.03s, total=7.03s, count=1, min=7034.9ms, max=7034.9ms
+  save_batch_prep: mean=2.53s, total=2.53s, count=1, min=2532.9ms, max=2532.9ms
+  task_sampling: mean=303.5ms, total=1.21s, count=4, min=288.3ms, max=315.7ms
+  task_specific_sample: mean=300.7ms, total=1.20s, count=4, min=285.5ms, max=312.6ms
+  scene_randomize: mean=1.3ms, total=5.2ms, count=4, min=0.9ms, max=1.8ms
+  mj_forward_sync: mean=324.9us, total=1.3ms, count=4, min=0.3ms, max=0.3ms
+  policy_setup: mean=14.0us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/18 16:30:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:30:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:30:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:30:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:30:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:30:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:30:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:30:35 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:30:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/18 16:30:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:30:35 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]
+05/18 16:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.063798m	[env.py: 870]
+05/18 16:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:30:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.1373145  -1.27162049 -0.06379837] yaw=171.8deg	[env.py: 1019]
+05/18 16:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 125.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.00374671 -0.26350957 -0.06379837] yaw=-128.7deg	[env.py: 1019]
+05/18 16:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.03674422 -0.45999026 -0.06379837] yaw=-157.5deg	[env.py: 1019]
+05/18 16:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 16:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:30:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=95.2ms, total=95.2ms	[env.py: 1075]
+05/18 16:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.137, -1.272, -0.064)	[env.py: 1079]
+05/18 16:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.8 deg	[env.py: 1082]
+05/18 16:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.263m	[env.py: 1086]
+05/18 16:30:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:30:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:30:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:30:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:30:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:30:35 INFO: [Worker 0] Worker 0 house 2 episode 57/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:30:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:30:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:30:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:30:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:30:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.850s, found feasible grasp: False	[grasp_sample.py: 557]
+05/18 16:30:37 ERROR: [Worker 0] Worker 0 house 2 episode 57 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/18 16:30:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:30:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:30:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:30:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:30:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:30:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:30:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:30:39 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:30:39 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]
+05/18 16:30:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:30:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.065m, effective arm-mount z=0.795m (base_body_z=-0.065m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 16:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.065136m	[env.py: 870]
+05/18 16:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:30:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -82.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 147.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.03077641 -0.8664776  -0.06513555] yaw=-154.2deg	[env.py: 1019]
+05/18 16:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.30016481 -0.25202592 -0.06513555] yaw=-150.4deg	[env.py: 1019]
+05/18 16:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:30:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=136.6ms, total=136.6ms	[env.py: 1075]
+05/18 16:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.031, -0.866, -0.065)	[env.py: 1079]
+05/18 16:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.2 deg	[env.py: 1082]
+05/18 16:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.106m	[env.py: 1086]
+05/18 16:30:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:30:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:30:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:30:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:30:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:30:39 INFO: [Worker 0] Worker 0 house 2 episode 58/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:30:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:30:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:30:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:30:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:30:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.856s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:30:43 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.793[m] 103.164[deg]	[grasp_sample.py: 596]
+05/18 16:30:44 ERROR: [Worker 0] Worker 0 house 2 episode 58 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/18 16:30:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:30:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:30:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:30:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:30:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:30:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:30:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:30:45 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:30:45 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]
+05/18 16:30:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:30:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 16:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092502m	[env.py: 870]
+05/18 16:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:30:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.08920144 -1.2210288   0.09250168] yaw=180.8deg	[env.py: 1019]
+05/18 16:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.21931313 -0.98422524  0.09250168] yaw=188.7deg	[env.py: 1019]
+05/18 16:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.36434236 -0.0118354   0.09250168] yaw=-109.8deg	[env.py: 1019]
+05/18 16:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 16:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:30:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=79.2ms, total=79.2ms	[env.py: 1075]
+05/18 16:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.089, -1.221, 0.093)	[env.py: 1079]
+05/18 16:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.8 deg	[env.py: 1082]
+05/18 16:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.203m	[env.py: 1086]
+05/18 16:30:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:30:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:30:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:30:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:30:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:30:45 INFO: [Worker 0] Worker 0 house 2 episode 59/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:30:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:30:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:30:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:30:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:30:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.833s, found feasible grasp: False	[grasp_sample.py: 557]
+05/18 16:30:47 ERROR: [Worker 0] Worker 0 house 2 episode 59 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/18 16:30:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:30:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:30:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:30:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:30:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:30:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:30:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:30:49 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:30:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/18 16:30:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:30:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.068m, effective arm-mount z=0.792m (base_body_z=-0.068m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 16:30:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:30:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:30:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.068318m	[env.py: 870]
+05/18 16:30:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:30:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:30:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:30:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:30:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.01820971 -0.60954794 -0.068318  ] yaw=-186.3deg	[env.py: 1019]
+05/18 16:30:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:30:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:30:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.27838546 -0.25248786 -0.068318  ] yaw=-149.4deg	[env.py: 1019]
+05/18 16:30:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:30:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 127.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:30:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.15488965 -1.27475989 -0.068318  ] yaw=178.1deg	[env.py: 1019]
+05/18 16:30:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/18 16:30:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:30:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.5ms, total=117.5ms	[env.py: 1075]
+05/18 16:30:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.018, -0.610, -0.068)	[env.py: 1079]
+05/18 16:30:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -186.3 deg	[env.py: 1082]
+05/18 16:30:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.100m	[env.py: 1086]
+05/18 16:30:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:30:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:30:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:30:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:30:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:30:49 INFO: [Worker 0] Worker 0 house 2 episode 60/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:30:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:30:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:30:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:30:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:30:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.876s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:30:51 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.735[m] 71.709[deg]	[grasp_sample.py: 596]
+05/18 16:30:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 16:30:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 16:30:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:30:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/18 16:31:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:31:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 16:31:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:31:59 INFO: [Worker 0] Worker 0 house 2 episode 60 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/18 16:32:13 INFO: [Worker 0] Saved videos eagerly for episode 21 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[pipeline.py: 1174]
+05/18 16:32:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_075 batch 1/1: 1 episodes	[pipeline.py: 238]
+05/18 16:32:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/18 16:32:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/18 16:32:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_075	[save_utils.py: 785]
+05/18 16:32:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_075 in 9.66s (batch: 2.55s, save: 7.11s)	[pipeline.py: 300]
+05/18 16:32:23 INFO: [Worker 0] [PROFILE] Episode 60 house 2 success=True episode_total=1.13s:
+  episode_total: mean=26.01s, total=104.03s, count=4, min=2168.9ms, max=94597.8ms
+  sensor_polling: mean=206.6ms, total=61.99s, count=300, min=195.6ms, max=485.1ms
+  save_trajectories: mean=7.11s, total=7.11s, count=1, min=7109.4ms, max=7109.4ms
+  physics_step: mean=14.2ms, total=4.27s, count=300, min=10.9ms, max=19.0ms
+  save_batch_prep: mean=2.55s, total=2.55s, count=1, min=2548.8ms, max=2548.8ms
+  task_sampling: mean=283.5ms, total=1.13s, count=4, min=252.4ms, max=308.4ms
+  task_specific_sample: mean=281.2ms, total=1.12s, count=4, min=250.3ms, max=306.1ms
+  scene_randomize: mean=1.1ms, total=4.3ms, count=4, min=0.9ms, max=1.7ms
+  mj_forward_sync: mean=329.0us, total=1.3ms, count=4, min=0.3ms, max=0.3ms
+  policy_setup: mean=13.3us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/18 16:32:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2	[task_sampler.py: 1090]
+05/18 16:32:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/18 16:32:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/18 16:32:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:32:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:32:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:32:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:32:24 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring.	[object_manager.py: 1078]
+05/18 16:32:24 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]
+05/18 16:32:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/18 16:32:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.021m, effective arm-mount z=0.839m (base_body_z=-0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/18 16:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/18 16:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306)	[env.py: 845]
+05/18 16:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020597m	[env.py: 870]
+05/18 16:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m	[env.py: 871]
+05/18 16:32:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/18 16:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23578 free points within sampling radius	[env.py: 907]
+05/18 16:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/18 16:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.3358259  -0.38633242 -0.02059651] yaw=-149.2deg	[env.py: 1019]
+05/18 16:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/18 16:32:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.17998792 -0.22580732 -0.02059651] yaw=-149.7deg	[env.py: 1019]
+05/18 16:32:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/18 16:32:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/18 16:32:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=143.1ms, total=143.1ms	[env.py: 1075]
+05/18 16:32:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.336, -0.386, -0.021)	[env.py: 1079]
+05/18 16:32:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.2 deg	[env.py: 1082]
+05/18 16:32:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m	[env.py: 1086]
+05/18 16:32:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/18 16:32:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/18 16:32:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/18 16:32:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/18 16:32:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/18 16:32:25 INFO: [Worker 0] Worker 0 house 2 episode 61/72 collected=0/12	[pipeline.py: 1044]
+05/18 16:32:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/18 16:32:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 202]
+05/18 16:32:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 443]
+05/18 16:32:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps	[grasp_sample.py: 520]
+05/18 16:32:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.873s, found feasible grasp: True	[grasp_sample.py: 557]
+05/18 16:32:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.573[m] 113.311[deg]	[grasp_sample.py: 596]
+05/18 16:32:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/18 16:32:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/18 16:32:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:32:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/18 16:32:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:32:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/18 16:32:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/18 16:33:34 INFO: [Worker 0] Worker 0 house 2 episode 61 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
diff --git a/fridge_m_2house/sim/house_2/chunk_075/trajectories_batch_1_of_1_cam_rand.h5 b/fridge_m_2house/sim/house_2/chunk_075/trajectories_batch_1_of_1_cam_rand.h5
new file mode 100644
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--- /dev/null
+++ b/fridge_m_2house/sim/house_2/chunk_075/trajectories_batch_1_of_1_cam_rand.h5
@@ -0,0 +1,3 @@
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+size 1704327678