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+05/15 00:09:17 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/15 00:09:17 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/15 00:09:17 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/15 00:09:17 INFO: {'batch_num': 1,
+ 'benchmark_path': None,
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+                                'fov_noise_degrees': None,
+                                'is_warped': False,
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+                                'up_axis': 'z',
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+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/15 00:09:17 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]
+05/15 00:09:17 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/15 00:09:17 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/15 00:09:18 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/15 00:09:20 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/15 00:09:20 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/15 00:09:20 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/15 00:09:20 INFO: {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_v2/sim_chunks/chunk_105'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x793c8c1183d0>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 40502,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.1, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.2),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 1.0),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/15 00:09:20 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]
+05/15 00:09:20 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/15 00:09:20 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/15 00:09:20 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/15 00:09:20 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/15 00:09:20 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/15 00:09:20 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/15 00:09:20 INFO: {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_v2/sim_chunks/chunk_105'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x71d5b0dca110>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 40504,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.1, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.2),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 1.0),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/15 00:09:20 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]
+05/15 00:09:20 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/15 00:09:20 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/15 00:09:20 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/15 00:09:20 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/15 00:09:20 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/15 00:09:20 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/15 00:09:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:09:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:09:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:09:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:09:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:09:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:09:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:09:20 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]
+05/15 00:09:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:09:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035705m	[env.py: 870]
+05/15 00:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:09:20 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/15 00:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.31878751 -0.25911497  0.03570458] yaw=-141.9deg	[env.py: 1019]
+05/15 00:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 136.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:09:20 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/15 00:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.33081266 -0.00185253  0.03570458] yaw=-152.3deg	[env.py: 1019]
+05/15 00:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.00504419 -0.39271205  0.03570458] yaw=-139.4deg	[env.py: 1019]
+05/15 00:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:09:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=21.0ms, retries=131.3ms, total=152.4ms	[env.py: 1075]
+05/15 00:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.319, -0.259, 0.036)	[env.py: 1079]
+05/15 00:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.9 deg	[env.py: 1082]
+05/15 00:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m	[env.py: 1086]
+05/15 00:09:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:09:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:09:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:09:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:09:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:09:21 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:09:22 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/15 00:09:22 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/15 00:09:22 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/15 00:09:22 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/15 00:09:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:09:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:09:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:09:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:09:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:09:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:09:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:09:22 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]
+05/15 00:09:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:09:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.042m, effective arm-mount z=0.818m (base_body_z=-0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.042158m	[env.py: 870]
+05/15 00:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:09:22 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/15 00:09:22 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/15 00:09:22 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/15 00:09:22 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/15 00:09:22 INFO: {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_v2/sim_chunks/chunk_105'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7b3b42047290>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 40503,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.1, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.2),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 1.0),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/15 00:09:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/15 00:09:22 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/15 00:09:22 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/15 00:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:09:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.02546103 -0.95022418 -0.04215796] yaw=188.0deg	[env.py: 1019]
+05/15 00:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.26565564 -0.51852916 -0.04215796] yaw=-182.0deg	[env.py: 1019]
+05/15 00:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 161.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.09203822 -0.88721328 -0.04215796] yaw=177.1deg	[env.py: 1019]
+05/15 00:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:09:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=22.8ms, retries=193.2ms, total=215.9ms	[env.py: 1075]
+05/15 00:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.025, -0.950, -0.042)	[env.py: 1079]
+05/15 00:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 188.0 deg	[env.py: 1082]
+05/15 00:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.108m	[env.py: 1086]
+05/15 00:09:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:09:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:09:23 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/15 00:09:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:09:23 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:09:23 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/15 00:09:23 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/15 00:09:23 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/15 00:09:23 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/15 00:09:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:09:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:09:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:09:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:09:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:09:23 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]
+05/15 00:09:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:09:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088728m	[env.py: 870]
+05/15 00:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:09:23 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/15 00:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.62020264 -0.12898627  0.08872796] yaw=-117.4deg	[env.py: 1019]
+05/15 00:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.06159583 -0.63752834  0.08872796] yaw=-163.9deg	[env.py: 1019]
+05/15 00:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.0135574  -1.23272941  0.08872796] yaw=139.5deg	[env.py: 1019]
+05/15 00:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:09:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=21.1ms, retries=187.8ms, total=208.9ms	[env.py: 1075]
+05/15 00:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.620, -0.129, 0.089)	[env.py: 1079]
+05/15 00:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -117.4 deg	[env.py: 1082]
+05/15 00:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m	[env.py: 1086]
+05/15 00:09:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:09:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:09:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:09:24 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:09:25 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/15 00:09:25 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/15 00:09:25 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/15 00:09:25 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/15 00:09:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:09:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:09:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:09:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:09:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:09:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:09:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:09:25 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]
+05/15 00:09:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:09:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.049m, effective arm-mount z=0.811m (base_body_z=-0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.049289m	[env.py: 870]
+05/15 00:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:09:25 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/15 00:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.33279656 -0.2371807  -0.04928856] yaw=-135.4deg	[env.py: 1019]
+05/15 00:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.42315813 -0.16580552 -0.04928856] yaw=-134.2deg	[env.py: 1019]
+05/15 00:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.2646957  -0.55697208 -0.04928856] yaw=-158.9deg	[env.py: 1019]
+05/15 00:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:09:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=21.3ms, retries=113.8ms, total=135.1ms	[env.py: 1075]
+05/15 00:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.333, -0.237, -0.049)	[env.py: 1079]
+05/15 00:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.4 deg	[env.py: 1082]
+05/15 00:09:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m	[env.py: 1086]
+05/15 00:09:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:09:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:09:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:09:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:09:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:09:26 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:09:54 INFO: [Worker 0] Warmed up parallel IK solver in 33.644s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:09:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:09:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:09:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:09:57 INFO: [Worker 0] Warmed up parallel IK solver in 33.717s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:09:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:09:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:09:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:09:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.410s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:09:57 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.546[m] 109.304[deg]	[grasp_sample.py: 539]
+05/15 00:09:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:09:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:09:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:09:58 INFO: [Worker 0] Warmed up parallel IK solver in 34.276s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:09:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:09:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:09:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:09:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:09:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.145s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:09:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.566[m] 72.659[deg]	[grasp_sample.py: 539]
+05/15 00:09:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:09:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.559s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:09:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.736[m] 119.052[deg]	[grasp_sample.py: 539]
+05/15 00:09:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:10:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:10:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:10:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:10:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:10:00 INFO: [Worker 0] Warmed up parallel IK solver in 34.307s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:10:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:10:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:10:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:10:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:10:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:10:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.291s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:10:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.495[m] 65.154[deg]	[grasp_sample.py: 539]
+05/15 00:10:04 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 00:10:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:10:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:10:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:10:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:10:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:10:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:10:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:10:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:10:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:10:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:10:05 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]
+05/15 00:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.006912m	[env.py: 870]
+05/15 00:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:10:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.0301604  -1.24102458 -0.00691206] yaw=179.5deg	[env.py: 1019]
+05/15 00:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:10:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=196.8ms, total=196.8ms	[env.py: 1075]
+05/15 00:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.030, -1.241, -0.007)	[env.py: 1079]
+05/15 00:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.5 deg	[env.py: 1082]
+05/15 00:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.183m	[env.py: 1086]
+05/15 00:10:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:10:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:10:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:10:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:10:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:10:05 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:10:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:10:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:10:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:10:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:10:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.107s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:10:08 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:10:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:10:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:10:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:10:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:10:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:10:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:10:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:10:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:10:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:10:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:10:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016139m	[env.py: 870]
+05/15 00:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:10:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 130.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 125.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.02279178 -0.57515597  0.01613937] yaw=-141.8deg	[env.py: 1019]
+05/15 00:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.39216659  0.01317767  0.01613937] yaw=-155.3deg	[env.py: 1019]
+05/15 00:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:10:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=197.6ms, total=197.7ms	[env.py: 1075]
+05/15 00:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.023, -0.575, 0.016)	[env.py: 1079]
+05/15 00:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.8 deg	[env.py: 1082]
+05/15 00:10:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m	[env.py: 1086]
+05/15 00:10:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:10:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:10:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:10:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:10:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:10:09 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:10:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:10:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:10:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:10:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:10:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 7.450s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:10:17 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.766[m] 103.816[deg]	[grasp_sample.py: 539]
+05/15 00:10:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:10:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:10:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:10:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:10:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:10:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:10:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:10:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:10:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:10:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:11:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:11:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:11:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:11:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:11:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:11:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:11:45 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/15 00:11:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:11:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:11:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:11:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:11:47 INFO: [Worker 0] Feasibility-checked 84 grasps in 2.138s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:11:47 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.113[m] 0.301[deg]	[grasp_sample.py: 539]
+05/15 00:11:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:11:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:11:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:11:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:11:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:11:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:11:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:11:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:11:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:11:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:11:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:12:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:12:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:12:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:12:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:12:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:12:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:12:03 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.487s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:12:03 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.113[m] 4.595[deg]	[grasp_sample.py: 539]
+05/15 00:12:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:12:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:12:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:12:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:12:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:12:11 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:12:11 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:12:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:12:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:12:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:12:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:12:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:12:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:12:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:12:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:12:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:12:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:12:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:12:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:12:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:12:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 82 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:12:29 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 00:12:29 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=False episode_total=4.15s:
+  episode_total: mean=61.25s, total=183.75s, count=3, min=2687.4ms, max=139909.3ms
+  sensor_polling: mean=399.6ms, total=119.88s, count=300, min=371.0ms, max=551.6ms
+  physics_step: mean=23.8ms, total=7.14s, count=300, min=17.7ms, max=44.3ms
+  task_sampling: mean=1.38s, total=4.15s, count=3, min=439.4ms, max=3265.7ms
+  scene_load: mean=2.86s, total=2.86s, count=1, min=2859.1ms, max=2859.1ms
+  scene_env_create: mean=1.68s, total=1.68s, count=1, min=1676.3ms, max=1676.3ms
+  task_specific_sample: mean=428.0ms, total=1.28s, count=3, min=404.2ms, max=443.0ms
+  scene_compile: mean=993.9ms, total=993.9ms, count=1, min=993.9ms, max=993.9ms
+  compile_mujoco: mean=687.2ms, total=687.2ms, count=1, min=687.2ms, max=687.2ms
+  compile_xml_load: mean=233.2ms, total=233.2ms, count=1, min=233.2ms, max=233.2ms
+  scene_init: mean=117.6ms, total=117.6ms, count=1, min=117.6ms, max=117.6ms
+  scene_asset_install: mean=71.1ms, total=71.1ms, count=1, min=71.1ms, max=71.1ms
+  asset_install_grasps: mean=56.5ms, total=56.5ms, count=1, min=56.5ms, max=56.5ms
+  compile_aux_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms
+  compile_aux_policy_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms
+  asset_install_objects: mean=11.3ms, total=11.3ms, count=1, min=11.3ms, max=11.3ms
+  compile_robot_add: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms
+  scene_randomize: mean=1.2ms, total=3.5ms, count=3, min=1.1ms, max=1.3ms
+  asset_install_scene: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=448.5us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=17.9us, total=0.1ms, count=3, 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]
+05/15 00:12:30 INFO: [Worker 0] Feasibility-checked 82 grasps in 1.993s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:12:30 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:12:30 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[pipeline.py: 1174]
+05/15 00:12:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_105 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 00:12:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:12:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:12:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:12:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:12:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:12:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:12:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:12:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:12:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:12:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:12:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:12:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.029m, effective arm-mount z=0.831m (base_body_z=-0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.028658m	[env.py: 870]
+05/15 00:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:12:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.01826654 -0.97782493 -0.02865793] yaw=192.3deg	[env.py: 1019]
+05/15 00:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 133.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.11087868 -0.89636519 -0.02865793] yaw=192.1deg	[env.py: 1019]
+05/15 00:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.17255089 -0.21402959 -0.02865793] yaw=-161.5deg	[env.py: 1019]
+05/15 00:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:12:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=148.4ms, total=148.5ms	[env.py: 1075]
+05/15 00:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.018, -0.978, -0.029)	[env.py: 1079]
+05/15 00:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 192.3 deg	[env.py: 1082]
+05/15 00:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m	[env.py: 1086]
+05/15 00:12:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:12:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:12:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:12:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:12:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:12:31 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:12:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:12:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:12:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:12:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:12:32 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[pipeline.py: 1174]
+05/15 00:12:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_105 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 00:12:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:12:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:12:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:12:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:12:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:12:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:12:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:12:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:12:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:12:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:12:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:12:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084822m	[env.py: 870]
+05/15 00:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:12:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.03782629 -0.73056292  0.08482243] yaw=-151.9deg	[env.py: 1019]
+05/15 00:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.18676581 -1.10924275  0.08482243] yaw=181.2deg	[env.py: 1019]
+05/15 00:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.15143838 -0.88692736  0.08482243] yaw=186.9deg	[env.py: 1019]
+05/15 00:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:12:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=75.9ms, total=76.0ms	[env.py: 1075]
+05/15 00:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.038, -0.731, 0.085)	[env.py: 1079]
+05/15 00:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.9 deg	[env.py: 1082]
+05/15 00:12:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.040m	[env.py: 1086]
+05/15 00:12:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:12:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:12:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:12:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:12:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:12:32 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:12:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:12:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:12:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:12:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:12:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.107s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:12:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.771[m] 92.057[deg]	[grasp_sample.py: 539]
+05/15 00:12:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:12:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.411s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:12:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.865[m] 108.975[deg]	[grasp_sample.py: 539]
+05/15 00:12:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:12:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:12:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:12:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:12:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:12:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:12:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:12:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:12:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[save_utils.py: 785]
+05/15 00:12:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_105 in 13.83s (batch: 3.08s, save: 10.75s)	[pipeline.py: 300]
+05/15 00:12:45 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.74s:
+  episode_total: mean=207.73s, total=207.73s, count=1, min=207728.1ms, max=207728.1ms
+  sensor_polling: mean=413.4ms, total=124.03s, count=300, min=386.1ms, max=644.2ms
+  save_trajectories: mean=10.75s, total=10.75s, count=1, min=10751.4ms, max=10751.4ms
+  physics_step: mean=23.7ms, total=7.10s, count=300, min=21.6ms, max=32.0ms
+  task_sampling: mean=3.74s, total=3.74s, count=1, min=3739.6ms, max=3739.6ms
+  scene_load: mean=3.27s, total=3.27s, count=1, min=3274.0ms, max=3274.0ms
+  save_batch_prep: mean=3.08s, total=3.08s, count=1, min=3078.3ms, max=3078.3ms
+  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1962.6ms, max=1962.6ms
+  scene_compile: mean=1.13s, total=1.13s, count=1, min=1125.4ms, max=1125.4ms
+  compile_mujoco: mean=626.1ms, total=626.1ms, count=1, min=626.1ms, max=626.1ms
+  task_specific_sample: mean=461.3ms, total=461.3ms, count=1, min=461.3ms, max=461.3ms
+  compile_xml_load: mean=417.1ms, total=417.1ms, count=1, min=417.1ms, max=417.1ms
+  scene_init: mean=121.9ms, total=121.9ms, count=1, min=121.9ms, max=121.9ms
+  scene_asset_install: mean=64.0ms, total=64.0ms, count=1, min=64.0ms, max=64.0ms
+  compile_aux_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms
+  compile_aux_policy_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms
+  asset_install_grasps: mean=47.7ms, total=47.7ms, count=1, min=47.7ms, max=47.7ms
+  compile_robot_add: mean=19.6ms, total=19.6ms, count=1, min=19.6ms, max=19.6ms
+  asset_install_objects: mean=11.7ms, total=11.7ms, count=1, min=11.7ms, max=11.7ms
+  asset_install_scene: mean=4.6ms, total=4.6ms, count=1, min=4.6ms, max=4.6ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=783.3us, total=0.8ms, count=1, min=0.8ms, max=0.8ms
+  policy_setup: mean=22.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:12:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:12:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[save_utils.py: 785]
+05/15 00:12:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_105 in 13.65s (batch: 3.14s, save: 10.51s)	[pipeline.py: 300]
+05/15 00:12:46 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.26s:
+  episode_total: mean=206.13s, total=206.13s, count=1, min=206133.1ms, max=206133.1ms
+  sensor_polling: mean=404.3ms, total=121.30s, count=300, min=370.4ms, max=584.3ms
+  save_trajectories: mean=10.51s, total=10.51s, count=1, min=10514.4ms, max=10514.4ms
+  physics_step: mean=24.4ms, total=7.33s, count=300, min=20.2ms, max=31.6ms
+  task_sampling: mean=3.26s, total=3.26s, count=1, min=3255.3ms, max=3255.3ms
+  save_batch_prep: mean=3.14s, total=3.14s, count=1, min=3136.7ms, max=3136.7ms
+  scene_load: mean=2.76s, total=2.76s, count=1, min=2761.3ms, max=2761.3ms
+  scene_env_create: mean=1.70s, total=1.70s, count=1, min=1704.3ms, max=1704.3ms
+  scene_compile: mean=883.9ms, total=883.9ms, count=1, min=883.9ms, max=883.9ms
+  compile_mujoco: mean=627.3ms, total=627.3ms, count=1, min=627.3ms, max=627.3ms
+  task_specific_sample: mean=491.1ms, total=491.1ms, count=1, min=491.1ms, max=491.1ms
+  compile_xml_load: mean=184.1ms, total=184.1ms, count=1, min=184.1ms, max=184.1ms
+  scene_init: mean=122.0ms, total=122.0ms, count=1, min=122.0ms, max=122.0ms
+  compile_aux_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms
+  compile_aux_policy_objects: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms
+  scene_asset_install: mean=50.7ms, total=50.7ms, count=1, min=50.7ms, max=50.7ms
+  asset_install_grasps: mean=37.3ms, total=37.3ms, count=1, min=37.3ms, max=37.3ms
+  asset_install_objects: mean=10.5ms, total=10.5ms, count=1, min=10.5ms, max=10.5ms
+  compile_robot_add: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms
+  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=458.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=60.3us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
+05/15 00:12:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:12:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:12:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:12:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:12:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:12:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:12:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:12:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:12:46 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]
+05/15 00:12:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:12:46 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]
+05/15 00:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073845m	[env.py: 870]
+05/15 00:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:12:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 121.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 126.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.55870707 -0.1588818   0.07384474] yaw=-156.0deg	[env.py: 1019]
+05/15 00:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.26502226 -0.60858083  0.07384474] yaw=-169.9deg	[env.py: 1019]
+05/15 00:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:12:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=161.6ms, total=161.6ms	[env.py: 1075]
+05/15 00:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.559, -0.159, 0.074)	[env.py: 1079]
+05/15 00:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.0 deg	[env.py: 1082]
+05/15 00:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m	[env.py: 1086]
+05/15 00:12:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:12:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:12:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:12:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:12:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:12:47 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:12:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:12:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:12:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:12:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:12:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:12:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:12:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:12:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:12:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:12:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:12:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:12:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:12:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:12:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:12:47 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]
+05/15 00:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042946m	[env.py: 870]
+05/15 00:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:12:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.00697758 -1.26013796  0.04294622] yaw=167.5deg	[env.py: 1019]
+05/15 00:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -165.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.10866247 -0.65039554  0.04294622] yaw=-152.4deg	[env.py: 1019]
+05/15 00:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:12:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=181.3ms, total=181.4ms	[env.py: 1075]
+05/15 00:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.007, -1.260, 0.043)	[env.py: 1079]
+05/15 00:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.5 deg	[env.py: 1082]
+05/15 00:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.169m	[env.py: 1086]
+05/15 00:12:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:12:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:12:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:12:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:12:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.905s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:12:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.783[m] 76.048[deg]	[grasp_sample.py: 539]
+05/15 00:12:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:12:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:12:48 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:12:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:12:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:12:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:12:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:12:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:12:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:12:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:12:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.157s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:12:50 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:12:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:12:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:12:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:12:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:12:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:12:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:12:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:12:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:12:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:12:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:12:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056019m	[env.py: 870]
+05/15 00:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:12:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 141.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.44672382 -0.08556772  0.05601876] yaw=-107.0deg	[env.py: 1019]
+05/15 00:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 155.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.14691987 -0.4099185   0.05601876] yaw=-148.3deg	[env.py: 1019]
+05/15 00:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:12:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=251.0ms, total=251.0ms	[env.py: 1075]
+05/15 00:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.447, -0.086, 0.056)	[env.py: 1079]
+05/15 00:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -107.0 deg	[env.py: 1082]
+05/15 00:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m	[env.py: 1086]
+05/15 00:12:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:12:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:12:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:12:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:12:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:12:52 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:12:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:12:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:12:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:12:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:12:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.380s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:12:55 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.534[m] 95.252[deg]	[grasp_sample.py: 539]
+05/15 00:12:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:12:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:12:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:13:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:13:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:13:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:13:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:13:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:13:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:13:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:13:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:13:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:13:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:13:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:13:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:13:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:13:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:13:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:13:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:13:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:13:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:14:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:14:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:14:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:14:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:14:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 28.881s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:14:17 INFO: [Worker 0] Feasible grasp found 204 (originally 89): w/ 0.313[m] 13.981[deg]	[grasp_sample.py: 539]
+05/15 00:14:18 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 00:14:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:14:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:14:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:14:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:14:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:14:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:14:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:14:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:14:20 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]
+05/15 00:14:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:14:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.027m, effective arm-mount z=0.833m (base_body_z=-0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.026847m	[env.py: 870]
+05/15 00:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:14:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 139.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.03006983 -1.26028017 -0.02684688] yaw=184.4deg	[env.py: 1019]
+05/15 00:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.05097984 -1.11939903 -0.02684688] yaw=181.4deg	[env.py: 1019]
+05/15 00:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.12237858 -1.18106099 -0.02684688] yaw=177.6deg	[env.py: 1019]
+05/15 00:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:14:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=288.2ms, total=288.2ms	[env.py: 1075]
+05/15 00:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.030, -1.260, -0.027)	[env.py: 1079]
+05/15 00:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 184.4 deg	[env.py: 1082]
+05/15 00:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.135m	[env.py: 1086]
+05/15 00:14:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:14:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:14:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:14:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:14:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:14:21 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:14:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:14:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:14:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:14:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:14:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.118s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:14:23 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:14:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:14:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:14:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:14:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:14:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:14:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:14:25 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]
+05/15 00:14:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:14:25 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]
+05/15 00:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073840m	[env.py: 870]
+05/15 00:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:14:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 168.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.03806518 -1.07022673  0.07384038] yaw=147.9deg	[env.py: 1019]
+05/15 00:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 127.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.27675792 -0.46934332  0.07384038] yaw=-181.4deg	[env.py: 1019]
+05/15 00:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.21668348 -0.24807995  0.07384038] yaw=-141.8deg	[env.py: 1019]
+05/15 00:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:14:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.6ms, total=157.6ms	[env.py: 1075]
+05/15 00:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.038, -1.070, 0.074)	[env.py: 1079]
+05/15 00:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 147.9 deg	[env.py: 1082]
+05/15 00:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m	[env.py: 1086]
+05/15 00:14:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:14:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:14:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:14:25 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:14:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:14:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:14:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:14:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:14:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.969s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:14:31 INFO: [Worker 0] Feasible grasp found 14 (originally 14): w/ 0.613[m] 89.927[deg]	[grasp_sample.py: 539]
+05/15 00:14:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:14:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:14:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:14:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:14:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:14:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:14:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:14:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:14:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:14:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:14:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:14:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:14:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:14:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:14:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:14:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:14:46 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 00:14:46 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=False episode_total=0.42s:
+  episode_total: mean=135.33s, total=135.33s, count=1, min=135332.1ms, max=135332.1ms
+  sensor_polling: mean=407.8ms, total=122.34s, count=300, min=373.9ms, max=629.6ms
+  physics_step: mean=24.5ms, total=7.34s, count=300, min=16.6ms, max=58.9ms
+  task_sampling: mean=424.5ms, total=424.5ms, count=1, min=424.5ms, max=424.5ms
+  task_specific_sample: mean=421.5ms, total=421.5ms, count=1, min=421.5ms, max=421.5ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=593.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:14:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:14:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:14:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:14:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:14:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:14:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:14:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:14:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:14:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:14:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:14:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:14:48 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]
+05/15 00:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.064424m	[env.py: 870]
+05/15 00:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:14:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 156.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.20923585 -0.61813677 -0.06442448] yaw=-191.5deg	[env.py: 1019]
+05/15 00:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.02867882 -0.58053562 -0.06442448] yaw=-148.3deg	[env.py: 1019]
+05/15 00:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.43971148 -0.16022394 -0.06442448] yaw=-146.2deg	[env.py: 1019]
+05/15 00:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:14:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=165.1ms, total=165.2ms	[env.py: 1075]
+05/15 00:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.209, -0.618, -0.064)	[env.py: 1079]
+05/15 00:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -191.5 deg	[env.py: 1082]
+05/15 00:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.887m	[env.py: 1086]
+05/15 00:14:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:14:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:14:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:14:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:14:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:14:48 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:14:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:14:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:14:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:14:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:14:49 INFO: [Worker 0] Feasibility-checked 80 grasps in 2.323s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:14:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.106[m] 0.542[deg]	[grasp_sample.py: 539]
+05/15 00:14:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:14:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:14:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:14:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.723s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:14:49 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.573[m] 46.479[deg]	[grasp_sample.py: 539]
+05/15 00:14:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:14:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:14:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:14:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:14:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:15:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:15:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:15:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:15:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:15:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:15:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:15:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:15:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:15:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:15:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:15:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:15:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:15:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:15:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:15:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:15:17 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.189s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:15:17 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.160[deg]	[grasp_sample.py: 539]
+05/15 00:15:18 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 00:15:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:15:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:15:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:15:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:15:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:15:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:15:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:15:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:15:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:15:20 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]
+05/15 00:15:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:15:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.043m, effective arm-mount z=0.817m (base_body_z=-0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.042821m	[env.py: 870]
+05/15 00:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:15:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -148.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -151.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.05126671 -0.44128672 -0.04282098] yaw=-135.6deg	[env.py: 1019]
+05/15 00:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:15:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=197.2ms, total=197.3ms	[env.py: 1075]
+05/15 00:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.051, -0.441, -0.043)	[env.py: 1079]
+05/15 00:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.6 deg	[env.py: 1082]
+05/15 00:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m	[env.py: 1086]
+05/15 00:15:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:15:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:15:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:15:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:15:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:15:20 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:15:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:15:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:15:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:15:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:15:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:15:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:15:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:15:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:15:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.038s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:15:25 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.893[m] 74.513[deg]	[grasp_sample.py: 539]
+05/15 00:15:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:15:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:15:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:15:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:15:26 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:15:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:15:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:15:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:15:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:15:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:15:46 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[pipeline.py: 1174]
+05/15 00:15:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_105 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 00:15:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:15:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:15:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:15:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[save_utils.py: 785]
+05/15 00:15:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_105 in 13.40s (batch: 2.97s, save: 10.43s)	[pipeline.py: 300]
+05/15 00:16:00 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.96s:
+  episode_total: mean=95.58s, total=191.16s, count=2, min=2797.2ms, max=188363.9ms
+  sensor_polling: mean=404.2ms, total=121.25s, count=300, min=372.4ms, max=573.0ms
+  save_trajectories: mean=10.43s, total=10.43s, count=1, min=10430.5ms, max=10430.5ms
+  physics_step: mean=23.9ms, total=7.18s, count=300, min=16.2ms, max=33.7ms
+  save_batch_prep: mean=2.97s, total=2.97s, count=1, min=2965.0ms, max=2965.0ms
+  task_sampling: mean=477.7ms, total=955.5ms, count=2, min=458.9ms, max=496.6ms
+  task_specific_sample: mean=473.9ms, total=947.8ms, count=2, min=454.2ms, max=493.5ms
+  scene_randomize: mean=2.2ms, total=4.3ms, count=2, min=1.1ms, max=3.2ms
+  mj_forward_sync: mean=538.8us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=18.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:16:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:16:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:16:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:16:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:16:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:16:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:16:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:16:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:16:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:16:01 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]
+05/15 00:16:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:16:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.050m, effective arm-mount z=0.810m (base_body_z=-0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.050162m	[env.py: 870]
+05/15 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:16:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.45751183  0.02929527 -0.05016213] yaw=-121.0deg	[env.py: 1019]
+05/15 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -168.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:16:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.1ms, total=200.1ms	[env.py: 1075]
+05/15 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.458, 0.029, -0.050)	[env.py: 1079]
+05/15 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -121.0 deg	[env.py: 1082]
+05/15 00:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m	[env.py: 1086]
+05/15 00:16:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:16:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:16:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:16:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:16:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:16:02 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:16:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:16:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:16:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:16:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:16:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:16:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.183s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:16:04 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:16:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:16:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:16:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:16:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:16:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:16:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:16:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:16:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:16:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:16:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:16:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:16:05 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]
+05/15 00:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.005393m	[env.py: 870]
+05/15 00:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:16:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.0985885  -1.14876425 -0.00539315] yaw=183.3deg	[env.py: 1019]
+05/15 00:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.16308059 -0.26653817 -0.00539315] yaw=-127.5deg	[env.py: 1019]
+05/15 00:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:16:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:16:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:16:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=199.6ms, total=199.7ms	[env.py: 1075]
+05/15 00:16:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.099, -1.149, -0.005)	[env.py: 1079]
+05/15 00:16:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 183.3 deg	[env.py: 1082]
+05/15 00:16:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m	[env.py: 1086]
+05/15 00:16:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:16:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:16:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:16:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:16:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:16:06 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:16:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:16:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:16:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:16:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:16:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:16:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:16:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.188s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:16:08 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.747[m] 57.997[deg]	[grasp_sample.py: 539]
+05/15 00:16:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:16:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:16:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:16:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:16:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:16:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:16:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:16:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:16:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:16:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:16:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 66 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:16:15 INFO: [Worker 0] Feasibility-checked 66 grasps in 3.341s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:16:15 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.044[m] 11.496[deg]	[grasp_sample.py: 539]
+05/15 00:16:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:16:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:16:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:16:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:16:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:16:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:16:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:16:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:16:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:16:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:16:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:16:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:16:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:16:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:16:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:16:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:16:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:16:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:16:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:16:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:16:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:16:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:16:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:16:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 74 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:16:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:16:50 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.877s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:16:50 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.025[m] 2.392[deg]	[grasp_sample.py: 539]
+05/15 00:16:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:16:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:16:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:16:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:16:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:16:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:16:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:16:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:16:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:16:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:16:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:17:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:17:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:17:07 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 00:17:07 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=False episode_total=4.78s:
+  episode_total: mean=115.34s, total=461.37s, count=4, min=2860.8ms, max=189931.8ms
+  sensor_polling: mean=398.5ms, total=294.10s, count=738, min=369.4ms, max=614.1ms
+  physics_step: mean=23.6ms, total=17.39s, count=738, min=15.6ms, max=35.3ms
+  task_sampling: mean=1.19s, total=4.78s, count=4, min=337.1ms, max=3468.2ms
+  scene_load: mean=2.99s, total=2.99s, count=1, min=2990.9ms, max=2990.9ms
+  scene_env_create: mean=1.85s, total=1.85s, count=1, min=1853.6ms, max=1853.6ms
+  task_specific_sample: mean=443.8ms, total=1.78s, count=4, min=334.4ms, max=570.5ms
+  scene_compile: mean=967.2ms, total=967.2ms, count=1, min=967.2ms, max=967.2ms
+  compile_mujoco: mean=708.1ms, total=708.1ms, count=1, min=708.1ms, max=708.1ms
+  compile_xml_load: mean=187.5ms, total=187.5ms, count=1, min=187.5ms, max=187.5ms
+  scene_init: mean=115.6ms, total=115.6ms, count=1, min=115.6ms, max=115.6ms
+  scene_asset_install: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms
+  compile_aux_objects: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms
+  compile_aux_policy_objects: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms
+  asset_install_grasps: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
+  asset_install_objects: mean=11.7ms, total=11.7ms, count=1, min=11.7ms, max=11.7ms
+  compile_robot_add: mean=8.6ms, total=8.6ms, count=1, min=8.6ms, max=8.6ms
+  scene_randomize: mean=1.6ms, total=6.3ms, count=4, min=1.2ms, max=2.5ms
+  asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  mj_forward_sync: mean=546.8us, total=2.2ms, count=4, min=0.5ms, max=0.8ms
+  policy_setup: mean=24.2us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:17:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:17:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:17:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:17:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:17:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:17:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:17:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:17:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:17:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:17:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:17:09 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]
+05/15 00:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093310m	[env.py: 870]
+05/15 00:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:17:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 145.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.15579152 -0.87353908  0.09330996] yaw=193.6deg	[env.py: 1019]
+05/15 00:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.37822686 -0.22029276  0.09330996] yaw=-130.7deg	[env.py: 1019]
+05/15 00:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.01849639 -0.99152714  0.09330996] yaw=170.2deg	[env.py: 1019]
+05/15 00:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:17:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=190.8ms, total=190.8ms	[env.py: 1075]
+05/15 00:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.156, -0.874, 0.093)	[env.py: 1079]
+05/15 00:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 193.6 deg	[env.py: 1082]
+05/15 00:17:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m	[env.py: 1086]
+05/15 00:17:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:17:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:17:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:17:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:17:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:17:09 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:17:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:17:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:17:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:17:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:17:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.800s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:17:10 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.470[m] 70.840[deg]	[grasp_sample.py: 539]
+05/15 00:17:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:17:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:17:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:17:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:17:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:17:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:17:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:17:24 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:17:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 45.011s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:17:37 INFO: [Worker 0] Feasible grasp found 145 (originally 30): w/ 0.140[m] 150.762[deg]	[grasp_sample.py: 539]
+05/15 00:17:39 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 00:17:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:17:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:17:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:17:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:17:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:17:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:17:41 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]
+05/15 00:17:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:17:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.079m, effective arm-mount z=0.781m (base_body_z=-0.079m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.078527m	[env.py: 870]
+05/15 00:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:17:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.28968501 -0.6324012  -0.07852664] yaw=-166.8deg	[env.py: 1019]
+05/15 00:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.24084375 -0.91076048 -0.07852664] yaw=184.8deg	[env.py: 1019]
+05/15 00:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.36913235 -0.37324426 -0.07852664] yaw=-164.9deg	[env.py: 1019]
+05/15 00:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:17:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=106.8ms, total=106.9ms	[env.py: 1075]
+05/15 00:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.290, -0.632, -0.079)	[env.py: 1079]
+05/15 00:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.8 deg	[env.py: 1082]
+05/15 00:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m	[env.py: 1086]
+05/15 00:17:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:17:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:17:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:17:41 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:17:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:17:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:17:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:17:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:17:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.634s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:17:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.311[m] 76.553[deg]	[grasp_sample.py: 539]
+05/15 00:17:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:17:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:17:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:17:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:17:44 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[pipeline.py: 1174]
+05/15 00:17:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_105 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/15 00:17:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:17:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:17:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:17:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:17:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[save_utils.py: 785]
+05/15 00:17:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_105 in 13.99s (batch: 3.32s, save: 10.67s)	[pipeline.py: 300]
+05/15 00:17:58 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.42s:
+  episode_total: mean=190.55s, total=190.55s, count=1, min=190550.2ms, max=190550.2ms
+  sensor_polling: mean=403.0ms, total=120.90s, count=300, min=364.5ms, max=719.0ms
+  save_trajectories: mean=10.67s, total=10.67s, count=1, min=10667.1ms, max=10667.1ms
+  physics_step: mean=24.9ms, total=7.48s, count=300, min=16.9ms, max=67.4ms
+  save_batch_prep: mean=3.32s, total=3.32s, count=1, min=3318.6ms, max=3318.6ms
+  task_sampling: mean=418.6ms, total=418.6ms, count=1, min=418.6ms, max=418.6ms
+  task_specific_sample: mean=415.5ms, total=415.5ms, count=1, min=415.5ms, max=415.5ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=460.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:17:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:18:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:18:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:18:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:18:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:18:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:18:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:18:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:18:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:18:00 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]
+05/15 00:18:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:18:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096817m	[env.py: 870]
+05/15 00:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:18:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.04385913 -0.87422816  0.09681741] yaw=153.4deg	[env.py: 1019]
+05/15 00:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -83.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 132.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.03751997 -0.60343932  0.09681741] yaw=-150.9deg	[env.py: 1019]
+05/15 00:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.40532356 -0.36247242  0.09681741] yaw=-152.2deg	[env.py: 1019]
+05/15 00:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:18:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=203.9ms, total=203.9ms	[env.py: 1075]
+05/15 00:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.044, -0.874, 0.097)	[env.py: 1079]
+05/15 00:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.4 deg	[env.py: 1082]
+05/15 00:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m	[env.py: 1086]
+05/15 00:18:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:18:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:18:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:18:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:18:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:18:00 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:18:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:18:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:18:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:18:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:18:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.745s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:18:04 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.699[m] 99.354[deg]	[grasp_sample.py: 539]
+05/15 00:18:05 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 00:18:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:18:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:18:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:18:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:18:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:18:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:18:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:18:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:18:07 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]
+05/15 00:18:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:18:07 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]
+05/15 00:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.051869m	[env.py: 870]
+05/15 00:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:18:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 110.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 178.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.06097787 -1.19567457 -0.05186861] yaw=148.9deg	[env.py: 1019]
+05/15 00:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.36745374 -0.10153196 -0.05186861] yaw=-116.2deg	[env.py: 1019]
+05/15 00:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.42992018 -0.18144735 -0.05186861] yaw=-152.5deg	[env.py: 1019]
+05/15 00:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:18:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=444.7ms, total=444.8ms	[env.py: 1075]
+05/15 00:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.061, -1.196, -0.052)	[env.py: 1079]
+05/15 00:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.9 deg	[env.py: 1082]
+05/15 00:18:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m	[env.py: 1086]
+05/15 00:18:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:18:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:18:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:18:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:18:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:18:08 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:18:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:18:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:18:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:18:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.096s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:18:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:18:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.208s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:18:13 INFO: [Worker 0] Feasible grasp found 14 (originally 14): w/ 0.700[m] 75.823[deg]	[grasp_sample.py: 539]
+05/15 00:18:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:18:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:18:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:18:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:18:20 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:18:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:18:41 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[pipeline.py: 1174]
+05/15 00:18:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_105 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 00:18:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:18:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:18:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[save_utils.py: 785]
+05/15 00:18:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_105 in 13.14s (batch: 2.81s, save: 10.33s)	[pipeline.py: 300]
+05/15 00:18:55 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.91s:
+  episode_total: mean=86.07s, total=172.14s, count=2, min=2819.8ms, max=169319.7ms
+  sensor_polling: mean=407.6ms, total=122.28s, count=300, min=380.7ms, max=653.5ms
+  save_trajectories: mean=10.33s, total=10.33s, count=1, min=10330.5ms, max=10330.5ms
+  physics_step: mean=24.6ms, total=7.39s, count=300, min=16.9ms, max=42.9ms
+  save_batch_prep: mean=2.81s, total=2.81s, count=1, min=2810.4ms, max=2810.4ms
+  task_sampling: mean=453.0ms, total=906.0ms, count=2, min=437.7ms, max=468.3ms
+  task_specific_sample: mean=449.4ms, total=898.8ms, count=2, min=434.9ms, max=463.9ms
+  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.1ms, max=3.1ms
+  mj_forward_sync: mean=458.7us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:18:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:18:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:18:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:18:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:18:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:18:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:18:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:18:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:18:56 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]
+05/15 00:18:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:18:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026418m	[env.py: 870]
+05/15 00:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:18:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 159.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 110.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.06569285 -0.29496168  0.0264182 ] yaw=-176.9deg	[env.py: 1019]
+05/15 00:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.04536006 -0.67496425  0.0264182 ] yaw=-172.4deg	[env.py: 1019]
+05/15 00:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.04456649 -1.12113958  0.0264182 ] yaw=165.5deg	[env.py: 1019]
+05/15 00:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:18:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=173.6ms, total=173.7ms	[env.py: 1075]
+05/15 00:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.066, -0.295, 0.026)	[env.py: 1079]
+05/15 00:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.9 deg	[env.py: 1082]
+05/15 00:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.135m	[env.py: 1086]
+05/15 00:18:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:18:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:18:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:18:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:18:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:18:56 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:18:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:18:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:18:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:18:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:18:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.219s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:18:59 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:18:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:19:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:19:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:19:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:19:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:19:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:19:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:19:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:19:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:19:00 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]
+05/15 00:19:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:19:00 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]
+05/15 00:19:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:19:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:19:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.093878m	[env.py: 870]
+05/15 00:19:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:19:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:19:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:19:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:19:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.2679097  -1.11547312 -0.09387769] yaw=166.6deg	[env.py: 1019]
+05/15 00:19:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:19:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:19:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.27665019 -0.37859526 -0.09387769] yaw=-165.1deg	[env.py: 1019]
+05/15 00:19:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:19:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:19:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:19:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=177.5ms, total=177.5ms	[env.py: 1075]
+05/15 00:19:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.268, -1.115, -0.094)	[env.py: 1079]
+05/15 00:19:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.6 deg	[env.py: 1082]
+05/15 00:19:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m	[env.py: 1086]
+05/15 00:19:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:19:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:19:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:19:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:19:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:19:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:19:01 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:19:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:19:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:19:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:19:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:19:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.919s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:19:02 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.583[m] 50.654[deg]	[grasp_sample.py: 539]
+05/15 00:19:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:19:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:19:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:19:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:19:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:19:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:19:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:19:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:19:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:19:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:19:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:19:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:19:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:19:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:19:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:19:11 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.633s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:19:11 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.031[m] 0.785[deg]	[grasp_sample.py: 539]
+05/15 00:19:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:19:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:19:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:19:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:19:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:19:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:19:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:19:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:19:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:19:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:19:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:19:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:19:44 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:19:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:19:52 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:19:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:20:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:20:05 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[pipeline.py: 1174]
+05/15 00:20:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_105 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 00:20:05 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:20:12 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[pipeline.py: 1174]
+05/15 00:20:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_105 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 00:20:12 INFO: [Worker 0] Preparing episode data: 284 timesteps	[save_utils.py: 278]
+05/15 00:20:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:20:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[save_utils.py: 785]
+05/15 00:20:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_105 in 13.70s (batch: 3.10s, save: 10.60s)	[pipeline.py: 300]
+05/15 00:20:19 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.44s:
+  episode_total: mean=190.35s, total=190.35s, count=1, min=190353.4ms, max=190353.4ms
+  sensor_polling: mean=401.1ms, total=120.32s, count=300, min=371.0ms, max=610.4ms
+  save_trajectories: mean=10.60s, total=10.60s, count=1, min=10597.9ms, max=10597.9ms
+  physics_step: mean=23.8ms, total=7.15s, count=300, min=16.6ms, max=34.3ms
+  save_batch_prep: mean=3.10s, total=3.10s, count=1, min=3097.8ms, max=3097.8ms
+  task_sampling: mean=436.9ms, total=436.9ms, count=1, min=436.9ms, max=436.9ms
+  task_specific_sample: mean=434.3ms, total=434.3ms, count=1, min=434.3ms, max=434.3ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=454.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=14.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:20:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:20:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:20:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:20:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:20:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:20:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:20:20 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]
+05/15 00:20:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:20:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.052m, effective arm-mount z=0.808m (base_body_z=-0.052m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.052436m	[env.py: 870]
+05/15 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:20:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.17989679 -0.60212462 -0.0524361 ] yaw=-187.4deg	[env.py: 1019]
+05/15 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.08394338 -0.85887749 -0.0524361 ] yaw=168.2deg	[env.py: 1019]
+05/15 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.0019441  -0.89204516 -0.0524361 ] yaw=187.4deg	[env.py: 1019]
+05/15 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:20:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=156.5ms, total=156.6ms	[env.py: 1075]
+05/15 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.180, -0.602, -0.052)	[env.py: 1079]
+05/15 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -187.4 deg	[env.py: 1082]
+05/15 00:20:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m	[env.py: 1086]
+05/15 00:20:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:20:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:20:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:20:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:20:21 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:20:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:20:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:20:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:20:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:20:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.999s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:20:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.598[m] 101.991[deg]	[grasp_sample.py: 539]
+05/15 00:20:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:20:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:20:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:20:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:20:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:20:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[save_utils.py: 785]
+05/15 00:20:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_105 in 13.45s (batch: 3.40s, save: 10.04s)	[pipeline.py: 300]
+05/15 00:20:26 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.22s:
+  episode_total: mean=152.33s, total=456.99s, count=3, min=139356.8ms, max=165865.8ms
+  sensor_polling: mean=427.0ms, total=318.52s, count=746, min=388.5ms, max=750.5ms
+  physics_step: mean=24.6ms, total=18.37s, count=746, min=17.4ms, max=65.5ms
+  save_trajectories: mean=10.04s, total=10.04s, count=1, min=10044.9ms, max=10044.9ms
+  save_batch_prep: mean=3.40s, total=3.40s, count=1, min=3401.1ms, max=3401.1ms
+  task_sampling: mean=407.7ms, total=1.22s, count=3, min=366.3ms, max=443.7ms
+  task_specific_sample: mean=403.7ms, total=1.21s, count=3, min=361.4ms, max=440.5ms
+  scene_randomize: mean=2.1ms, total=6.3ms, count=3, min=1.5ms, max=2.6ms
+  mj_forward_sync: mean=507.4us, total=1.5ms, count=3, min=0.5ms, max=0.6ms
+  policy_setup: mean=21.4us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:20:27 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:20:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:20:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:20:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:20:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:20:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:20:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:20:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:20:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:20:28 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]
+05/15 00:20:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:20:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.028m, effective arm-mount z=0.832m (base_body_z=-0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:20:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:20:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:20:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.027557m	[env.py: 870]
+05/15 00:20:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:20:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:20:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:20:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:20:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:20:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:20:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 135.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:20:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -149.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:20:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=156.2ms, total=156.2ms	[env.py: 1105]
+05/15 00:20:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 302]
+05/15 00:20:28 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/15 00:20:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:20:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:20:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:20:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:20:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:20:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:20:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:20:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:20:30 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]
+05/15 00:20:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:20:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.098m, effective arm-mount z=0.762m (base_body_z=-0.098m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.098081m	[env.py: 870]
+05/15 00:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:20:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 138.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -78.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.36853573 -0.38344541 -0.0980814 ] yaw=-173.2deg	[env.py: 1019]
+05/15 00:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:20:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=192.0ms, total=192.1ms	[env.py: 1075]
+05/15 00:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.369, -0.383, -0.098)	[env.py: 1079]
+05/15 00:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.2 deg	[env.py: 1082]
+05/15 00:20:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m	[env.py: 1086]
+05/15 00:20:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:20:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:20:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:20:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:20:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:20:30 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:20:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:20:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:20:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:20:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:20:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.781s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:20:31 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.707[m] 83.040[deg]	[grasp_sample.py: 539]
+05/15 00:20:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:20:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:20:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:20:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:20:49 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[pipeline.py: 1174]
+05/15 00:20:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_105 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/15 00:20:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:21:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:21:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[save_utils.py: 785]
+05/15 00:21:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_105 in 15.17s (batch: 3.35s, save: 11.82s)	[pipeline.py: 300]
+05/15 00:21:04 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.23s:
+  episode_total: mean=91.58s, total=183.17s, count=2, min=5720.3ms, max=177449.1ms
+  sensor_polling: mean=406.8ms, total=122.03s, count=300, min=377.2ms, max=647.8ms
+  save_trajectories: mean=11.82s, total=11.82s, count=1, min=11823.0ms, max=11823.0ms
+  physics_step: mean=24.4ms, total=7.33s, count=300, min=17.8ms, max=52.3ms
+  save_batch_prep: mean=3.35s, total=3.35s, count=1, min=3347.7ms, max=3347.7ms
+  task_sampling: mean=616.5ms, total=1.23s, count=2, min=494.8ms, max=738.2ms
+  task_specific_sample: mean=612.8ms, total=1.23s, count=2, min=491.0ms, max=734.7ms
+  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.4ms, max=2.6ms
+  mj_forward_sync: mean=542.1us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=20.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:21:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:21:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:21:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:21:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:21:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:21:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:21:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:21:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:21:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:21:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:21:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.088m, effective arm-mount z=0.772m (base_body_z=-0.088m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.088373m	[env.py: 870]
+05/15 00:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:21:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 143.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.06773276 -0.67153275 -0.08837276] yaw=-175.2deg	[env.py: 1019]
+05/15 00:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.09228123 -1.11175828 -0.08837276] yaw=141.8deg	[env.py: 1019]
+05/15 00:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 147.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.34396756 -0.04884479 -0.08837276] yaw=-141.7deg	[env.py: 1019]
+05/15 00:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:21:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=202.7ms, total=202.7ms	[env.py: 1075]
+05/15 00:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.068, -0.672, -0.088)	[env.py: 1079]
+05/15 00:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.2 deg	[env.py: 1082]
+05/15 00:21:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.151m	[env.py: 1086]
+05/15 00:21:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:21:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:21:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:21:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:21:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:21:06 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:21:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:21:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:21:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:21:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:21:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.253s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:21:09 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:21:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:21:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:21:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:21:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:21:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:21:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:21:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:21:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:21:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:21:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:21:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.057m, effective arm-mount z=0.803m (base_body_z=-0.057m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.056596m	[env.py: 870]
+05/15 00:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:21:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 152.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 130.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 172.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.19349087 -0.98533349 -0.05659618] yaw=166.3deg	[env.py: 1019]
+05/15 00:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:21:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=209.5ms, total=209.5ms	[env.py: 1075]
+05/15 00:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.193, -0.985, -0.057)	[env.py: 1079]
+05/15 00:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.3 deg	[env.py: 1082]
+05/15 00:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m	[env.py: 1086]
+05/15 00:21:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:21:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:21:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:21:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:21:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:21:11 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:21:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:21:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:21:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:21:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:21:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.804s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:21:11 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.556[m] 114.039[deg]	[grasp_sample.py: 539]
+05/15 00:21:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:21:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:21:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:21:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:21:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:21:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:21:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:21:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:21:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:21:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:21:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:21:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:21:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:21:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:21:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:21:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:21:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:21:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:21:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:21:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:21:29 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.540s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:21:29 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.861[deg]	[grasp_sample.py: 539]
+05/15 00:21:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:21:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:21:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:21:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:21:34 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:21:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:21:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:21:56 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[pipeline.py: 1174]
+05/15 00:21:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_105 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 00:21:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:22:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:22:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:22:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[save_utils.py: 785]
+05/15 00:22:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_105 in 13.42s (batch: 2.83s, save: 10.60s)	[pipeline.py: 300]
+05/15 00:22:09 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.87s:
+  episode_total: mean=96.00s, total=192.01s, count=2, min=2843.7ms, max=189165.0ms
+  sensor_polling: mean=408.6ms, total=122.57s, count=300, min=383.9ms, max=625.9ms
+  save_trajectories: mean=10.60s, total=10.60s, count=1, min=10595.9ms, max=10595.9ms
+  physics_step: mean=25.1ms, total=7.52s, count=300, min=16.9ms, max=37.2ms
+  save_batch_prep: mean=2.83s, total=2.83s, count=1, min=2826.4ms, max=2826.4ms
+  task_sampling: mean=436.6ms, total=873.2ms, count=2, min=422.1ms, max=451.1ms
+  task_specific_sample: mean=433.2ms, total=866.4ms, count=2, min=419.2ms, max=447.2ms
+  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.1ms, max=2.6ms
+  mj_forward_sync: mean=452.1us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:22:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:22:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:22:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:22:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:22:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:22:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:22:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:22:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:22:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:22:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:22:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:22:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078224m	[env.py: 870]
+05/15 00:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:22:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 133.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.14118893 -0.3082389   0.07822431] yaw=-132.8deg	[env.py: 1019]
+05/15 00:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:22:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=182.3ms, total=182.3ms	[env.py: 1075]
+05/15 00:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.141, -0.308, 0.078)	[env.py: 1079]
+05/15 00:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.8 deg	[env.py: 1082]
+05/15 00:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m	[env.py: 1086]
+05/15 00:22:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:22:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:22:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:22:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:22:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:22:11 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:22:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:22:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:22:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:22:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:22:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:22:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.553s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:22:15 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.645[m] 99.492[deg]	[grasp_sample.py: 539]
+05/15 00:22:16 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 00:22:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:22:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:22:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:22:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:22:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:22:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:22:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:22:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:22:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:22:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:22:17 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]
+05/15 00:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052649m	[env.py: 870]
+05/15 00:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:22:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.01860704 -0.55323567  0.05264898] yaw=-155.1deg	[env.py: 1019]
+05/15 00:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.32462598 -0.18406641  0.05264898] yaw=-113.3deg	[env.py: 1019]
+05/15 00:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:22:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=185.3ms, total=185.3ms	[env.py: 1075]
+05/15 00:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.019, -0.553, 0.053)	[env.py: 1079]
+05/15 00:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.1 deg	[env.py: 1082]
+05/15 00:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m	[env.py: 1086]
+05/15 00:22:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:22:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:22:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:22:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:22:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:22:18 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:22:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:22:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:22:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:22:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:22:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 8.885s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:22:27 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.760[m] 93.457[deg]	[grasp_sample.py: 539]
+05/15 00:22:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:22:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:22:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:22:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:22:35 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:22:50 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:22:57 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[pipeline.py: 1174]
+05/15 00:22:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_105 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 00:22:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:23:11 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[pipeline.py: 1174]
+05/15 00:23:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_105 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 00:23:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:23:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:23:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[save_utils.py: 785]
+05/15 00:23:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_105 in 15.04s (batch: 3.73s, save: 11.31s)	[pipeline.py: 300]
+05/15 00:23:12 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.39s:
+  episode_total: mean=172.16s, total=172.16s, count=1, min=172161.3ms, max=172161.3ms
+  sensor_polling: mean=409.3ms, total=122.78s, count=300, min=368.4ms, max=666.8ms
+  save_trajectories: mean=11.31s, total=11.31s, count=1, min=11309.7ms, max=11309.7ms
+  physics_step: mean=24.5ms, total=7.35s, count=300, min=16.8ms, max=38.9ms
+  save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3731.8ms, max=3731.8ms
+  task_sampling: mean=388.9ms, total=388.9ms, count=1, min=388.9ms, max=388.9ms
+  task_specific_sample: mean=384.8ms, total=384.8ms, count=1, min=384.8ms, max=384.8ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=467.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=23.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:23:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:23:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:23:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:23:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:23:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:23:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:23:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:23:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:23:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:23:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:23:14 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]
+05/15 00:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.055859m	[env.py: 870]
+05/15 00:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:23:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 140.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.06054706 -1.31888117 -0.05585917] yaw=179.4deg	[env.py: 1019]
+05/15 00:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.15878476 -0.93236162 -0.05585917] yaw=144.3deg	[env.py: 1019]
+05/15 00:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 169.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.09717804 -0.59652187 -0.05585917] yaw=-162.9deg	[env.py: 1019]
+05/15 00:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:23:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.6ms, total=140.6ms	[env.py: 1075]
+05/15 00:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.061, -1.319, -0.056)	[env.py: 1079]
+05/15 00:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.4 deg	[env.py: 1082]
+05/15 00:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.132m	[env.py: 1086]
+05/15 00:23:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:23:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:23:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:23:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:23:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:23:14 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:23:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:23:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:23:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:23:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:23:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.342s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:23:17 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:23:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:23:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:23:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:23:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:23:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:23:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:23:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:23:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:23:18 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]
+05/15 00:23:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:23:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.020m, effective arm-mount z=0.840m (base_body_z=-0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:23:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:23:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:23:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.019624m	[env.py: 870]
+05/15 00:23:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:23:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:23:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:23:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -162.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:23:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.32963151 -0.09609166 -0.01962432] yaw=-143.3deg	[env.py: 1019]
+05/15 00:23:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:23:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.01785691 -0.90947778 -0.01962432] yaw=147.2deg	[env.py: 1019]
+05/15 00:23:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:23:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 126.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:23:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 119.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:23:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.4393701   0.16303074 -0.01962432] yaw=-136.7deg	[env.py: 1019]
+05/15 00:23:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:23:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:23:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=136.8ms, total=136.9ms	[env.py: 1075]
+05/15 00:23:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.330, -0.096, -0.020)	[env.py: 1079]
+05/15 00:23:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.3 deg	[env.py: 1082]
+05/15 00:23:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.036m	[env.py: 1086]
+05/15 00:23:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:23:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:23:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:23:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:23:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:23:18 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:23:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:23:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:23:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:23:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:23:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.148s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:23:24 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.705[m] 95.793[deg]	[grasp_sample.py: 539]
+05/15 00:23:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:23:24 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:23:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:23:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:23:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:23:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:23:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[save_utils.py: 785]
+05/15 00:23:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_105 in 14.88s (batch: 3.44s, save: 11.44s)	[pipeline.py: 300]
+05/15 00:23:26 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.46s:
+  episode_total: mean=88.49s, total=176.99s, count=2, min=168.4ms, max=176818.9ms
+  sensor_polling: mean=428.1ms, total=128.43s, count=300, min=395.3ms, max=755.4ms
+  save_trajectories: mean=11.44s, total=11.44s, count=1, min=11437.2ms, max=11437.2ms
+  physics_step: mean=25.4ms, total=7.63s, count=300, min=17.7ms, max=43.7ms
+  save_batch_prep: mean=3.44s, total=3.44s, count=1, min=3441.7ms, max=3441.7ms
+  task_specific_sample: mean=311.9ms, total=623.9ms, count=2, min=162.7ms, max=461.2ms
+  task_sampling: mean=464.1ms, total=464.1ms, count=1, min=464.1ms, max=464.1ms
+  task_sampling_failed: mean=168.3ms, total=168.3ms, count=1, min=168.3ms, max=168.3ms
+  scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.1ms, max=2.6ms
+  mj_forward_sync: mean=464.8us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=23.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:23:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:23:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:23:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:23:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:23:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:23:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:23:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:23:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:23:28 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]
+05/15 00:23:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:23:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002509m	[env.py: 870]
+05/15 00:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:23:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.07571182 -0.45526233  0.00250949] yaw=-146.7deg	[env.py: 1019]
+05/15 00:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.17651514 -0.53157376  0.00250949] yaw=-143.3deg	[env.py: 1019]
+05/15 00:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.23115848 -0.23588325  0.00250949] yaw=-144.5deg	[env.py: 1019]
+05/15 00:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:23:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.7ms, total=153.7ms	[env.py: 1075]
+05/15 00:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.076, -0.455, 0.003)	[env.py: 1079]
+05/15 00:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.7 deg	[env.py: 1082]
+05/15 00:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m	[env.py: 1086]
+05/15 00:23:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:23:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:23:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:23:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:23:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:23:28 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:23:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:23:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:23:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:23:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:23:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.553s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:23:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.523[m] 70.968[deg]	[grasp_sample.py: 539]
+05/15 00:23:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:23:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:23:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:23:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:23:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:23:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:23:46 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[pipeline.py: 1174]
+05/15 00:23:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_105 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/15 00:23:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:23:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:24:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:24:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[save_utils.py: 785]
+05/15 00:24:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_105 in 16.22s (batch: 3.58s, save: 12.65s)	[pipeline.py: 300]
+05/15 00:24:02 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.93s:
+  episode_total: mean=87.63s, total=175.26s, count=2, min=2884.5ms, max=172373.8ms
+  sensor_polling: mean=401.9ms, total=120.58s, count=300, min=374.8ms, max=661.5ms
+  save_trajectories: mean=12.65s, total=12.65s, count=1, min=12645.3ms, max=12645.3ms
+  physics_step: mean=23.9ms, total=7.18s, count=300, min=16.8ms, max=40.2ms
+  save_batch_prep: mean=3.58s, total=3.58s, count=1, min=3579.1ms, max=3579.1ms
+  task_sampling: mean=466.7ms, total=933.5ms, count=2, min=459.2ms, max=474.2ms
+  task_specific_sample: mean=463.3ms, total=926.7ms, count=2, min=456.3ms, max=470.4ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.1ms, max=2.5ms
+  mj_forward_sync: mean=449.3us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=17.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:24:03 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/15 00:24:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:24:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:24:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:24:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 70 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:24:03 INFO: [Worker 0] Feasibility-checked 70 grasps in 0.623s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:24:03 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.125[m] 1.362[deg]	[grasp_sample.py: 539]
+05/15 00:24:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:24:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:24:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:24:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:24:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:24:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:24:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:24:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:24:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:24:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:24:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:24:04 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]
+05/15 00:24:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:24:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009094m	[env.py: 870]
+05/15 00:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:24:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.02784343 -0.39699864  0.00909405] yaw=-161.1deg	[env.py: 1019]
+05/15 00:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.01809073 -1.25688895  0.00909405] yaw=154.9deg	[env.py: 1019]
+05/15 00:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.00966063 -1.04621826  0.00909405] yaw=140.8deg	[env.py: 1019]
+05/15 00:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:24:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=146.0ms, total=146.1ms	[env.py: 1075]
+05/15 00:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.028, -0.397, 0.009)	[env.py: 1079]
+05/15 00:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.1 deg	[env.py: 1082]
+05/15 00:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.127m	[env.py: 1086]
+05/15 00:24:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:24:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:24:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:24:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:24:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:24:04 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:24:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:24:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:24:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:24:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:24:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.763s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:24:09 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/15 00:24:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:24:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:24:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:24:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:24:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:24:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:24:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:24:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:24:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:24:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:24:11 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]
+05/15 00:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015481m	[env.py: 870]
+05/15 00:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:24:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -80.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.22342943 -1.11912281 -0.01548069] yaw=178.3deg	[env.py: 1019]
+05/15 00:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.15936383 -0.34482683 -0.01548069] yaw=-147.9deg	[env.py: 1019]
+05/15 00:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:24:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=167.0ms, total=167.1ms	[env.py: 1075]
+05/15 00:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.223, -1.119, -0.015)	[env.py: 1079]
+05/15 00:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 178.3 deg	[env.py: 1082]
+05/15 00:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m	[env.py: 1086]
+05/15 00:24:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:24:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:24:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:24:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:24:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:24:11 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:24:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:24:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:24:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:24:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:24:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.773s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:24:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.588[m] 100.011[deg]	[grasp_sample.py: 539]
+05/15 00:24:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:24:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:24:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:24:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:24:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:24:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:24:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:24:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:24:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:24:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:24:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:24:33 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/15 00:24:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:24:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:24:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:24:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:24:34 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.559s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:24:34 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.117[m] 1.147[deg]	[grasp_sample.py: 539]
+05/15 00:24:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:24:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:24:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:24:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:24:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:24:41 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 00:24:41 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=False episode_total=0.88s:
+  episode_total: mean=74.44s, total=148.89s, count=2, min=5392.2ms, max=143496.3ms
+  sensor_polling: mean=409.0ms, total=122.70s, count=300, min=369.7ms, max=667.7ms
+  physics_step: mean=24.3ms, total=7.29s, count=300, min=17.2ms, max=34.8ms
+  task_sampling: mean=441.3ms, total=882.5ms, count=2, min=425.8ms, max=456.8ms
+  task_specific_sample: mean=438.1ms, total=876.3ms, count=2, min=422.8ms, max=453.4ms
+  scene_randomize: mean=1.6ms, total=3.1ms, count=2, min=1.1ms, max=2.0ms
+  mj_forward_sync: mean=450.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=16.6us, 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]
+05/15 00:24:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:24:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:24:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:24:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:24:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:24:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:24:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:24:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:24:42 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]
+05/15 00:24:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:24:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.092m, effective arm-mount z=0.768m (base_body_z=-0.092m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:24:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:24:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:24:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.092018m	[env.py: 870]
+05/15 00:24:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:24:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:24:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:24:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.25544757 -0.3234512  -0.09201823] yaw=-162.7deg	[env.py: 1019]
+05/15 00:24:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:24:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.06033411 -1.08967397 -0.09201823] yaw=179.6deg	[env.py: 1019]
+05/15 00:24:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.00376525 -1.21206679 -0.09201823] yaw=165.7deg	[env.py: 1019]
+05/15 00:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:24:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=64.7ms, total=64.8ms	[env.py: 1075]
+05/15 00:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.255, -0.323, -0.092)	[env.py: 1079]
+05/15 00:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.7 deg	[env.py: 1082]
+05/15 00:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m	[env.py: 1086]
+05/15 00:24:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:24:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:24:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:24:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:24:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:24:43 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:24:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:24:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:24:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:24:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:24:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.382s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:24:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.526[m] 85.035[deg]	[grasp_sample.py: 539]
+05/15 00:24:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:24:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:24:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:24:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:25:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:25:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:25:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:25:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:25:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:25:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:25:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:25:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:25:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:25:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:25:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:25:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:25:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:25:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:25:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:25:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:25:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 74 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:25:38 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.609s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:25:38 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:25:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:25:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:25:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:25:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:25:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:25:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:25:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:25:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:25:39 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]
+05/15 00:25:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:25:39 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]
+05/15 00:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068094m	[env.py: 870]
+05/15 00:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:25:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 134.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.38096451 -0.0456873   0.06809411] yaw=-121.2deg	[env.py: 1019]
+05/15 00:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.09226606 -1.09313189  0.06809411] yaw=179.7deg	[env.py: 1019]
+05/15 00:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:25:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=191.0ms, total=191.1ms	[env.py: 1075]
+05/15 00:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.381, -0.046, 0.068)	[env.py: 1079]
+05/15 00:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -121.2 deg	[env.py: 1082]
+05/15 00:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.036m	[env.py: 1086]
+05/15 00:25:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:25:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:25:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:25:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:25:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:25:40 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:25:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:25:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:25:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:25:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:25:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:25:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.987s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:25:44 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.598[m] 86.284[deg]	[grasp_sample.py: 539]
+05/15 00:25:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:25:45 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 00:25:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:25:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:25:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:25:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:25:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:25:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:25:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:25:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:25:46 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]
+05/15 00:25:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:25:46 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]
+05/15 00:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001429m	[env.py: 870]
+05/15 00:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:25:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.09643305 -1.00141818  0.00142949] yaw=151.7deg	[env.py: 1019]
+05/15 00:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.31025811 -1.1921468   0.00142949] yaw=154.7deg	[env.py: 1019]
+05/15 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.28376588 -0.5121767   0.00142949] yaw=-140.8deg	[env.py: 1019]
+05/15 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:25:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.2ms, total=100.2ms	[env.py: 1075]
+05/15 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.096, -1.001, 0.001)	[env.py: 1079]
+05/15 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 151.7 deg	[env.py: 1082]
+05/15 00:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.185m	[env.py: 1086]
+05/15 00:25:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:25:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:25:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:25:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:25:47 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:25:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:25:47 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:25:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:25:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:25:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:25:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:25:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.415s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:25:49 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:25:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:25:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:25:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:25:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:25:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:25:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:25:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:25:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:25:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:25:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:25:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013893m	[env.py: 870]
+05/15 00:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:25:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.09528633 -0.81564365  0.01389272] yaw=-189.1deg	[env.py: 1019]
+05/15 00:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 153.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.09380745 -0.78162001  0.01389272] yaw=-204.6deg	[env.py: 1019]
+05/15 00:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:25:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=193.0ms, total=193.0ms	[env.py: 1075]
+05/15 00:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.095, -0.816, 0.014)	[env.py: 1079]
+05/15 00:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -189.1 deg	[env.py: 1082]
+05/15 00:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m	[env.py: 1086]
+05/15 00:25:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:25:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:25:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:25:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:25:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:25:51 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:25:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:25:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:25:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:25:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:25:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.813s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:25:52 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.548[m] 66.716[deg]	[grasp_sample.py: 539]
+05/15 00:25:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:25:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:25:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:25:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:26:09 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[pipeline.py: 1174]
+05/15 00:26:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_105 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 00:26:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:26:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:26:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[save_utils.py: 785]
+05/15 00:26:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_105 in 13.69s (batch: 3.21s, save: 10.48s)	[pipeline.py: 300]
+05/15 00:26:23 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.42s:
+  episode_total: mean=175.21s, total=175.21s, count=1, min=175207.2ms, max=175207.2ms
+  sensor_polling: mean=421.6ms, total=126.48s, count=300, min=392.5ms, max=727.4ms
+  save_trajectories: mean=10.48s, total=10.48s, count=1, min=10481.0ms, max=10481.0ms
+  physics_step: mean=25.2ms, total=7.55s, count=300, min=16.9ms, max=33.5ms
+  save_batch_prep: mean=3.21s, total=3.21s, count=1, min=3211.7ms, max=3211.7ms
+  task_sampling: mean=420.2ms, total=420.2ms, count=1, min=420.2ms, max=420.2ms
+  task_specific_sample: mean=416.7ms, total=416.7ms, count=1, min=416.7ms, max=416.7ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=465.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=28.9us, 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]
+05/15 00:26:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:26:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:26:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:26:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:26:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:26:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:26:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:26:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:26:24 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]
+05/15 00:26:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:26:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.034m, effective arm-mount z=0.826m (base_body_z=-0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.033912m	[env.py: 870]
+05/15 00:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:26:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 142.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.13690529 -0.10301047 -0.03391247] yaw=-150.1deg	[env.py: 1019]
+05/15 00:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 124.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.56626303 -0.17347479 -0.03391247] yaw=-109.3deg	[env.py: 1019]
+05/15 00:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.07469234 -0.24873026 -0.03391247] yaw=-135.3deg	[env.py: 1019]
+05/15 00:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:26:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.0ms, total=181.1ms	[env.py: 1075]
+05/15 00:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.137, -0.103, -0.034)	[env.py: 1079]
+05/15 00:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.1 deg	[env.py: 1082]
+05/15 00:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.178m	[env.py: 1086]
+05/15 00:26:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:26:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:26:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:26:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:26:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:26:25 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:26:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:26:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:26:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:26:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:26:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.986s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:26:27 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:26:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:26:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:26:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:26:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:26:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:26:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:26:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:26:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:26:28 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]
+05/15 00:26:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:26:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.070m, effective arm-mount z=0.790m (base_body_z=-0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.069824m	[env.py: 870]
+05/15 00:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:26:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:26:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.22523581 -1.05815407 -0.06982407] yaw=188.7deg	[env.py: 1019]
+05/15 00:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.19432506 -0.37555025 -0.06982407] yaw=-145.3deg	[env.py: 1019]
+05/15 00:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:26:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=194.7ms, total=194.8ms	[env.py: 1075]
+05/15 00:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.225, -1.058, -0.070)	[env.py: 1079]
+05/15 00:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 188.7 deg	[env.py: 1082]
+05/15 00:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m	[env.py: 1086]
+05/15 00:26:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:26:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:26:29 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:26:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:26:29 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:26:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:26:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:26:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:26:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:26:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.671s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:26:30 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.575[m] 120.474[deg]	[grasp_sample.py: 539]
+05/15 00:26:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:26:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:26:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:26:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:26:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:26:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:26:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:26:51 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[pipeline.py: 1174]
+05/15 00:26:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_105 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/15 00:26:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:26:59 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:27:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:27:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[save_utils.py: 785]
+05/15 00:27:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_105 in 14.06s (batch: 3.05s, save: 11.01s)	[pipeline.py: 300]
+05/15 00:27:05 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.82s:
+  episode_total: mean=90.06s, total=180.12s, count=2, min=5350.4ms, max=174764.6ms
+  sensor_polling: mean=412.0ms, total=123.60s, count=300, min=376.8ms, max=677.3ms
+  save_trajectories: mean=11.01s, total=11.01s, count=1, min=11010.6ms, max=11010.6ms
+  physics_step: mean=24.2ms, total=7.27s, count=300, min=16.8ms, max=37.2ms
+  save_batch_prep: mean=3.05s, total=3.05s, count=1, min=3051.1ms, max=3051.1ms
+  task_sampling: mean=411.8ms, total=823.6ms, count=2, min=408.2ms, max=415.4ms
+  task_specific_sample: mean=407.8ms, total=815.6ms, count=2, min=404.4ms, max=411.2ms
+  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.8ms, max=2.8ms
+  mj_forward_sync: mean=521.8us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=16.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:27:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:27:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:27:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:27:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:27:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:27:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:27:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:27:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:27:07 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]
+05/15 00:27:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:27:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.090m, effective arm-mount z=0.770m (base_body_z=-0.090m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.090293m	[env.py: 870]
+05/15 00:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:27:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 132.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.15819744 -0.67988634 -0.09029287] yaw=-171.9deg	[env.py: 1019]
+05/15 00:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.03867755 -0.70285106 -0.09029287] yaw=-146.1deg	[env.py: 1019]
+05/15 00:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.33275842 -0.33416811 -0.09029287] yaw=-151.6deg	[env.py: 1019]
+05/15 00:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:27:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=478.4ms, total=478.5ms	[env.py: 1075]
+05/15 00:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.158, -0.680, -0.090)	[env.py: 1079]
+05/15 00:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.9 deg	[env.py: 1082]
+05/15 00:27:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m	[env.py: 1086]
+05/15 00:27:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:27:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:27:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:27:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:27:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:27:08 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:27:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:27:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:27:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:27:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:27:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.905s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:27:09 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.634[m] 133.485[deg]	[grasp_sample.py: 539]
+05/15 00:27:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:27:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:27:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:27:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:27:22 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[pipeline.py: 1174]
+05/15 00:27:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_105 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 00:27:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:27:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:27:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:27:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:27:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[save_utils.py: 785]
+05/15 00:27:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_105 in 13.47s (batch: 2.80s, save: 10.67s)	[pipeline.py: 300]
+05/15 00:27:36 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.31s:
+  episode_total: mean=173.09s, total=173.09s, count=1, min=173090.4ms, max=173090.4ms
+  sensor_polling: mean=412.7ms, total=123.82s, count=300, min=377.1ms, max=701.5ms
+  save_trajectories: mean=10.67s, total=10.67s, count=1, min=10669.1ms, max=10669.1ms
+  physics_step: mean=25.0ms, total=7.51s, count=300, min=19.1ms, max=47.3ms
+  save_batch_prep: mean=2.80s, total=2.80s, count=1, min=2799.5ms, max=2799.5ms
+  task_sampling: mean=309.0ms, total=309.0ms, count=1, min=309.0ms, max=309.0ms
+  task_specific_sample: mean=306.4ms, total=306.4ms, count=1, min=306.4ms, max=306.4ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=454.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=12.2us, 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]
+05/15 00:27:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:27:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:27:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:27:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:27:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:27:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:27:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:27:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:27:37 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]
+05/15 00:27:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:27:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071300m	[env.py: 870]
+05/15 00:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:27:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.20393706 -0.92548364  0.07129965] yaw=182.7deg	[env.py: 1019]
+05/15 00:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.15571565 -0.05664461  0.07129965] yaw=-116.3deg	[env.py: 1019]
+05/15 00:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.00265823 -0.5329383   0.07129965] yaw=-191.7deg	[env.py: 1019]
+05/15 00:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:27:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.9ms, total=186.0ms	[env.py: 1075]
+05/15 00:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.204, -0.925, 0.071)	[env.py: 1079]
+05/15 00:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 182.7 deg	[env.py: 1082]
+05/15 00:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m	[env.py: 1086]
+05/15 00:27:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:27:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:27:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:27:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:27:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:27:37 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:27:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:27:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:27:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:27:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:27:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.611s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:27:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.440[m] 84.832[deg]	[grasp_sample.py: 539]
+05/15 00:27:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:27:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:27:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:27:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:27:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:28:04 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:28:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:28:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:28:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:28:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:28:25 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[pipeline.py: 1174]
+05/15 00:28:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_105 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 00:28:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:28:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:28:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:28:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:28:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[save_utils.py: 785]
+05/15 00:28:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_105 in 13.97s (batch: 3.21s, save: 10.76s)	[pipeline.py: 300]
+05/15 00:28:39 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.98s:
+  episode_total: mean=64.02s, total=320.11s, count=5, min=2906.6ms, max=168752.9ms
+  sensor_polling: mean=410.3ms, total=231.42s, count=564, min=369.6ms, max=690.5ms
+  physics_step: mean=24.6ms, total=13.87s, count=564, min=16.8ms, max=56.5ms
+  save_trajectories: mean=10.76s, total=10.76s, count=1, min=10763.2ms, max=10763.2ms
+  save_batch_prep: mean=3.21s, total=3.21s, count=1, min=3206.2ms, max=3206.2ms
+  task_sampling: mean=396.6ms, total=1.98s, count=5, min=344.8ms, max=437.7ms
+  task_specific_sample: mean=393.7ms, total=1.97s, count=5, min=341.5ms, max=434.9ms
+  scene_randomize: mean=1.4ms, total=7.1ms, count=5, min=1.2ms, max=1.9ms
+  mj_forward_sync: mean=459.6us, total=2.3ms, count=5, min=0.4ms, max=0.5ms
+  policy_setup: mean=16.4us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:28:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:28:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:28:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:28:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:28:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:28:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:28:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:28:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:28:41 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]
+05/15 00:28:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:28:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015714m	[env.py: 870]
+05/15 00:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:28:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.07025928 -0.61924996  0.01571379] yaw=-180.6deg	[env.py: 1019]
+05/15 00:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.29246068  0.08499549  0.01571379] yaw=-120.1deg	[env.py: 1019]
+05/15 00:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:28:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=166.7ms, total=166.7ms	[env.py: 1075]
+05/15 00:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.070, -0.619, 0.016)	[env.py: 1079]
+05/15 00:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.6 deg	[env.py: 1082]
+05/15 00:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m	[env.py: 1086]
+05/15 00:28:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:28:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:28:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:28:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:28:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:28:41 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:28:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:28:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:28:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:28:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:28:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.137s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:28:42 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.663[m] 99.603[deg]	[grasp_sample.py: 539]
+05/15 00:28:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:28:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:28:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:28:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:28:51 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:29:13 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[pipeline.py: 1174]
+05/15 00:29:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_105 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 00:29:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:29:20 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:29:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:29:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[save_utils.py: 785]
+05/15 00:29:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_105 in 14.23s (batch: 3.19s, save: 11.04s)	[pipeline.py: 300]
+05/15 00:29:28 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.89s:
+  episode_total: mean=91.01s, total=182.02s, count=2, min=2623.3ms, max=179392.1ms
+  sensor_polling: mean=436.5ms, total=130.96s, count=300, min=395.2ms, max=734.8ms
+  save_trajectories: mean=11.04s, total=11.04s, count=1, min=11035.2ms, max=11035.2ms
+  physics_step: mean=25.8ms, total=7.74s, count=300, min=21.6ms, max=36.9ms
+  save_batch_prep: mean=3.19s, total=3.19s, count=1, min=3192.5ms, max=3192.5ms
+  task_sampling: mean=446.6ms, total=893.1ms, count=2, min=436.5ms, max=456.7ms
+  task_specific_sample: mean=443.0ms, total=886.0ms, count=2, min=433.3ms, max=452.8ms
+  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.3ms, max=2.6ms
+  mj_forward_sync: mean=467.5us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:29:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:29:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:29:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:29:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:29:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:29:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:29:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:29:29 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]
+05/15 00:29:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:29:29 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]
+05/15 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051576m	[env.py: 870]
+05/15 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:29:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -169.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.42424105  0.11873132  0.05157599] yaw=-104.8deg	[env.py: 1019]
+05/15 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.27328332 -0.24270361  0.05157599] yaw=-116.6deg	[env.py: 1019]
+05/15 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.17422008 -0.41561782  0.05157599] yaw=-129.3deg	[env.py: 1019]
+05/15 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:29:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=113.9ms, total=114.0ms	[env.py: 1075]
+05/15 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.424, 0.119, 0.052)	[env.py: 1079]
+05/15 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -104.8 deg	[env.py: 1082]
+05/15 00:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.139m	[env.py: 1086]
+05/15 00:29:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:29:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:29:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:29:30 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:29:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:29:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:29:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:29:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:29:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:29:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.170s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:29:32 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:29:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:29:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:29:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:29:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:29:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:29:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:29:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:29:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:29:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:29:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:29:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:29:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.043m, effective arm-mount z=0.817m (base_body_z=-0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.042826m	[env.py: 870]
+05/15 00:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:29:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.02668257 -1.24813729 -0.04282619] yaw=148.4deg	[env.py: 1019]
+05/15 00:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.20507472 -0.0546151  -0.04282619] yaw=-120.7deg	[env.py: 1019]
+05/15 00:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.22886955 -0.8713574  -0.04282619] yaw=147.6deg	[env.py: 1019]
+05/15 00:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:29:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.2ms, total=132.2ms	[env.py: 1075]
+05/15 00:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.027, -1.248, -0.043)	[env.py: 1079]
+05/15 00:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.4 deg	[env.py: 1082]
+05/15 00:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.183m	[env.py: 1086]
+05/15 00:29:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:29:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:29:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:29:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:29:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:29:34 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:29:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:29:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:29:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:29:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:29:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:29:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:29:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.227s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:29:36 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:29:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:29:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:29:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:29:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:29:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:29:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:29:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:29:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:29:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:29:38 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]
+05/15 00:29:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:29:38 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]
+05/15 00:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099152m	[env.py: 870]
+05/15 00:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:29:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.11735877 -0.90915409  0.09915172] yaw=196.2deg	[env.py: 1019]
+05/15 00:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 130.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.12743843 -0.89574104  0.09915172] yaw=191.4deg	[env.py: 1019]
+05/15 00:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 133.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.41920763  0.00583325  0.09915172] yaw=-141.6deg	[env.py: 1019]
+05/15 00:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:29:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=170.8ms, total=170.9ms	[env.py: 1075]
+05/15 00:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.117, -0.909, 0.099)	[env.py: 1079]
+05/15 00:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 196.2 deg	[env.py: 1082]
+05/15 00:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.195m	[env.py: 1086]
+05/15 00:29:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:29:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:29:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:29:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:29:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:29:38 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:29:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:29:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:29:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:29:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:29:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:29:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.086s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:29:40 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:29:41 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[pipeline.py: 1174]
+05/15 00:29:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_105 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/15 00:29:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:29:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:29:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:29:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:29:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:29:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:29:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:29:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:29:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:29:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:29:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:29:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:29:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:29:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:29:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:29:42 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]
+05/15 00:29:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:29:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.057m, effective arm-mount z=0.803m (base_body_z=-0.057m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.057475m	[env.py: 870]
+05/15 00:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:29:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.14642459 -1.13110288 -0.0574748 ] yaw=155.7deg	[env.py: 1019]
+05/15 00:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.36947183 -0.05293693 -0.0574748 ] yaw=-140.3deg	[env.py: 1019]
+05/15 00:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.27765271 -0.94709521 -0.0574748 ] yaw=152.6deg	[env.py: 1019]
+05/15 00:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:29:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=74.9ms, total=75.0ms	[env.py: 1075]
+05/15 00:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.146, -1.131, -0.057)	[env.py: 1079]
+05/15 00:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.7 deg	[env.py: 1082]
+05/15 00:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m	[env.py: 1086]
+05/15 00:29:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:29:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:29:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:29:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:29:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:29:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:29:42 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:29:42 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.589s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:29:42 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.387[deg]	[grasp_sample.py: 539]
+05/15 00:29:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:29:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:29:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:29:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:29:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:29:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:29:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:29:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.310s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:29:44 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.628[m] 85.792[deg]	[grasp_sample.py: 539]
+05/15 00:29:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:29:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:29:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:29:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:29:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:29:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:29:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:29:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:29:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[save_utils.py: 785]
+05/15 00:29:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_105 in 15.86s (batch: 3.20s, save: 12.66s)	[pipeline.py: 300]
+05/15 00:29:57 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.79s:
+  episode_total: mean=170.31s, total=170.31s, count=1, min=170307.0ms, max=170307.0ms
+  sensor_polling: mean=402.8ms, total=120.84s, count=300, min=372.2ms, max=687.3ms
+  save_trajectories: mean=12.66s, total=12.66s, count=1, min=12664.4ms, max=12664.4ms
+  physics_step: mean=24.4ms, total=7.32s, count=300, min=18.7ms, max=38.4ms
+  save_batch_prep: mean=3.20s, total=3.20s, count=1, min=3199.4ms, max=3199.4ms
+  task_sampling: mean=794.7ms, total=794.7ms, count=1, min=794.7ms, max=794.7ms
+  task_specific_sample: mean=789.6ms, total=789.6ms, count=1, min=789.6ms, max=789.6ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=778.0us, total=0.8ms, count=1, min=0.8ms, max=0.8ms
+  policy_setup: mean=18.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:29:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:29:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:29:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:29:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:29:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:29:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:29:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:29:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:29:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:29:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:29:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.010m, effective arm-mount z=0.850m (base_body_z=-0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.009703m	[env.py: 870]
+05/15 00:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:29:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.31034133  0.02258402 -0.00970282] yaw=-113.5deg	[env.py: 1019]
+05/15 00:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 139.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.17457446 -0.56751993 -0.00970282] yaw=-160.0deg	[env.py: 1019]
+05/15 00:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 172.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.03769038 -0.53371159 -0.00970282] yaw=-142.0deg	[env.py: 1019]
+05/15 00:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:29:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=101.0ms, total=101.1ms	[env.py: 1075]
+05/15 00:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.310, 0.023, -0.010)	[env.py: 1079]
+05/15 00:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -113.5 deg	[env.py: 1082]
+05/15 00:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.134m	[env.py: 1086]
+05/15 00:29:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:29:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:29:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:29:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:29:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:29:59 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:29:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:29:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:29:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:29:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:30:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.166s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:30:01 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:30:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:30:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:30:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:30:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:30:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:30:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:30:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:30:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:30:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:30:03 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]
+05/15 00:30:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:30:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.043m, effective arm-mount z=0.817m (base_body_z=-0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.042833m	[env.py: 870]
+05/15 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:30:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 134.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -79.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -160.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.02831569 -0.61368155 -0.04283319] yaw=-152.3deg	[env.py: 1019]
+05/15 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.14774858 -0.94732027 -0.04283319] yaw=188.1deg	[env.py: 1019]
+05/15 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:30:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=186.2ms, total=186.2ms	[env.py: 1075]
+05/15 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.028, -0.614, -0.043)	[env.py: 1079]
+05/15 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.3 deg	[env.py: 1082]
+05/15 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.121m	[env.py: 1086]
+05/15 00:30:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:30:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:30:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:30:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:30:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:30:03 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:30:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:30:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:30:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:30:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:30:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.181s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:30:06 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.928[m] 128.003[deg]	[grasp_sample.py: 539]
+05/15 00:30:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:30:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:30:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:30:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:30:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:30:11 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:30:32 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[pipeline.py: 1174]
+05/15 00:30:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_105 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 00:30:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:30:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:30:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:30:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[save_utils.py: 785]
+05/15 00:30:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_105 in 13.90s (batch: 3.27s, save: 10.64s)	[pipeline.py: 300]
+05/15 00:30:46 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.48s:
+  episode_total: mean=189.47s, total=189.47s, count=1, min=189469.4ms, max=189469.4ms
+  sensor_polling: mean=425.9ms, total=127.76s, count=300, min=384.0ms, max=666.4ms
+  save_trajectories: mean=10.64s, total=10.64s, count=1, min=10639.4ms, max=10639.4ms
+  physics_step: mean=25.9ms, total=7.78s, count=300, min=20.7ms, max=37.0ms
+  save_batch_prep: mean=3.27s, total=3.27s, count=1, min=3265.5ms, max=3265.5ms
+  task_sampling: mean=481.6ms, total=481.6ms, count=1, min=481.6ms, max=481.6ms
+  task_specific_sample: mean=477.7ms, total=477.7ms, count=1, min=477.7ms, max=477.7ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=465.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:30:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:30:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:30:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:30:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:30:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:30:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:30:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:30:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:30:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:30:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:30:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.036m, effective arm-mount z=0.824m (base_body_z=-0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.035553m	[env.py: 870]
+05/15 00:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:30:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 150.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.07062161 -1.03651482 -0.03555313] yaw=187.3deg	[env.py: 1019]
+05/15 00:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 126.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:30:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=338.8ms, total=338.8ms	[env.py: 1075]
+05/15 00:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.071, -1.037, -0.036)	[env.py: 1079]
+05/15 00:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 187.3 deg	[env.py: 1082]
+05/15 00:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.166m	[env.py: 1086]
+05/15 00:30:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:30:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:30:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:30:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:30:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:30:48 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:30:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:30:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:30:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:30:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:30:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.117s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:30:51 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:30:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:30:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:30:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:30:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:30:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:30:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:30:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:30:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:30:52 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]
+05/15 00:30:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:30:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023762m	[env.py: 870]
+05/15 00:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:30:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.27706108 -0.15382975  0.0237621 ] yaw=-115.6deg	[env.py: 1019]
+05/15 00:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 127.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.06606358 -0.54953973  0.0237621 ] yaw=-186.4deg	[env.py: 1019]
+05/15 00:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.41690918 -0.25087765  0.0237621 ] yaw=-133.7deg	[env.py: 1019]
+05/15 00:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:30:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=182.9ms, total=183.0ms	[env.py: 1075]
+05/15 00:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.277, -0.154, 0.024)	[env.py: 1079]
+05/15 00:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -115.6 deg	[env.py: 1082]
+05/15 00:30:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.036m	[env.py: 1086]
+05/15 00:30:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:30:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:30:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:30:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:30:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:30:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:30:52 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:30:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:30:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:30:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:30:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:30:55 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:30:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.377s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:30:56 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.650[m] 119.264[deg]	[grasp_sample.py: 539]
+05/15 00:30:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:30:57 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 00:30:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:30:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:30:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:30:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:30:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:30:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:30:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:30:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:30:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:30:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:30:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.072m, effective arm-mount z=0.788m (base_body_z=-0.072m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.072066m	[env.py: 870]
+05/15 00:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:30:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 123.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 149.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.28017659 -0.91926626 -0.07206561] yaw=178.8deg	[env.py: 1019]
+05/15 00:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.12776105 -0.70227872 -0.07206561] yaw=-161.2deg	[env.py: 1019]
+05/15 00:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:30:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=196.9ms, total=196.9ms	[env.py: 1075]
+05/15 00:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.280, -0.919, -0.072)	[env.py: 1079]
+05/15 00:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 178.8 deg	[env.py: 1082]
+05/15 00:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m	[env.py: 1086]
+05/15 00:30:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:30:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:30:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:30:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:30:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:30:59 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:30:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:30:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:30:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:30:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:31:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.589s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:31:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.536[m] 111.647[deg]	[grasp_sample.py: 539]
+05/15 00:31:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:31:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:31:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:31:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:31:16 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[pipeline.py: 1174]
+05/15 00:31:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_105 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 00:31:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:31:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:31:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[save_utils.py: 785]
+05/15 00:31:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_105 in 13.71s (batch: 3.20s, save: 10.51s)	[pipeline.py: 300]
+05/15 00:31:30 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.41s:
+  episode_total: mean=169.42s, total=169.42s, count=1, min=169415.0ms, max=169415.0ms
+  sensor_polling: mean=408.8ms, total=122.64s, count=300, min=377.7ms, max=728.4ms
+  save_trajectories: mean=10.51s, total=10.51s, count=1, min=10506.7ms, max=10506.7ms
+  physics_step: mean=24.8ms, total=7.45s, count=300, min=16.8ms, max=36.3ms
+  save_batch_prep: mean=3.20s, total=3.20s, count=1, min=3203.5ms, max=3203.5ms
+  task_sampling: mean=409.3ms, total=409.3ms, count=1, min=409.3ms, max=409.3ms
+  task_specific_sample: mean=405.5ms, total=405.5ms, count=1, min=405.5ms, max=405.5ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=460.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:31:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:31:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:31:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:31:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:31:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:31:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:31:32 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]
+05/15 00:31:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:31:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015745m	[env.py: 870]
+05/15 00:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:31:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.05436212 -0.76451015  0.01574534] yaw=-163.4deg	[env.py: 1019]
+05/15 00:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -82.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.13140488 -0.34648561  0.01574534] yaw=-126.2deg	[env.py: 1019]
+05/15 00:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 123.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -149.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:31:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=236.5ms, total=236.5ms	[env.py: 1075]
+05/15 00:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.054, -0.765, 0.016)	[env.py: 1079]
+05/15 00:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.4 deg	[env.py: 1082]
+05/15 00:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.130m	[env.py: 1086]
+05/15 00:31:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:31:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:31:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:31:32 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:31:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:31:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:31:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:31:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:31:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.498s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:31:35 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:31:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:31:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:31:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:31:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:31:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:31:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:31:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:31:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:31:36 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]
+05/15 00:31:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:31:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.041146m	[env.py: 870]
+05/15 00:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:31:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 142.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 138.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.17021729 -0.59876648 -0.04114556] yaw=-159.1deg	[env.py: 1019]
+05/15 00:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.22519075  0.00058967 -0.04114556] yaw=-142.6deg	[env.py: 1019]
+05/15 00:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.09136476 -1.15639577 -0.04114556] yaw=153.5deg	[env.py: 1019]
+05/15 00:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:31:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=245.3ms, total=245.4ms	[env.py: 1075]
+05/15 00:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.170, -0.599, -0.041)	[env.py: 1079]
+05/15 00:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.1 deg	[env.py: 1082]
+05/15 00:31:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.930m	[env.py: 1086]
+05/15 00:31:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:31:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:31:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:31:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:31:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:31:37 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:31:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:31:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:31:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:31:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:31:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.722s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:31:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.651[m] 110.651[deg]	[grasp_sample.py: 539]
+05/15 00:31:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:31:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:31:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:31:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:31:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:31:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:31:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:31:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:31:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:31:48 INFO: [Worker 0] Feasibility-checked 84 grasps in 3.292s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:31:48 INFO: [Worker 0] Feasible grasp found 13 (originally 13): w/ 0.033[m] 11.958[deg]	[grasp_sample.py: 539]
+05/15 00:31:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:31:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:31:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:31:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:31:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:31:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:32:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:32:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:32:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:32:07 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:32:20 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 00:32:20 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=False episode_total=0.86s:
+  episode_total: mean=70.00s, total=140.00s, count=2, min=2761.7ms, max=137234.6ms
+  sensor_polling: mean=403.6ms, total=121.07s, count=300, min=368.7ms, max=791.7ms
+  physics_step: mean=24.0ms, total=7.19s, count=300, min=16.7ms, max=58.6ms
+  task_sampling: mean=432.4ms, total=864.9ms, count=2, min=421.6ms, max=443.3ms
+  task_specific_sample: mean=428.7ms, total=857.4ms, count=2, min=417.1ms, max=440.3ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.3ms, max=2.7ms
+  mj_forward_sync: mean=530.9us, total=1.1ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=22.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:32:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:32:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:32:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:32:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:32:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:32:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:32:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:32:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:32:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.088m, effective arm-mount z=0.772m (base_body_z=-0.088m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.088239m	[env.py: 870]
+05/15 00:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:32:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 156.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.09134436 -0.74721751 -0.08823897] yaw=-201.3deg	[env.py: 1019]
+05/15 00:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:32:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=237.5ms, total=237.5ms	[env.py: 1075]
+05/15 00:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.091, -0.747, -0.088)	[env.py: 1079]
+05/15 00:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -201.3 deg	[env.py: 1082]
+05/15 00:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.985m	[env.py: 1086]
+05/15 00:32:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:32:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:32:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:32:22 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:32:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:32:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:32:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:32:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:32:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.880s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:32:23 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.793[m] 135.391[deg]	[grasp_sample.py: 539]
+05/15 00:32:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:32:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:32:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:32:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:32:29 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[pipeline.py: 1174]
+05/15 00:32:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_105 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 00:32:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:32:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:32:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:32:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:32:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[save_utils.py: 785]
+05/15 00:32:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_105 in 15.67s (batch: 3.48s, save: 12.19s)	[pipeline.py: 300]
+05/15 00:32:45 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=1.56s:
+  episode_total: mean=47.90s, total=191.60s, count=4, min=2676.0ms, max=183420.1ms
+  sensor_polling: mean=440.3ms, total=132.10s, count=300, min=399.0ms, max=747.6ms
+  save_trajectories: mean=12.19s, total=12.19s, count=1, min=12193.1ms, max=12193.1ms
+  physics_step: mean=25.5ms, total=7.64s, count=300, min=16.8ms, max=36.9ms
+  save_batch_prep: mean=3.48s, total=3.48s, count=1, min=3479.3ms, max=3479.3ms
+  task_sampling: mean=389.0ms, total=1.56s, count=4, min=322.6ms, max=440.2ms
+  task_specific_sample: mean=385.7ms, total=1.54s, count=4, min=319.9ms, max=437.6ms
+  scene_randomize: mean=1.7ms, total=6.9ms, count=4, min=1.1ms, max=3.3ms
+  mj_forward_sync: mean=478.2us, total=1.9ms, count=4, min=0.4ms, max=0.6ms
+  policy_setup: mean=13.8us, 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]
+05/15 00:32:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:32:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:32:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:32:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:32:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:32:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:32:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:32:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:32:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:32:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.008m, effective arm-mount z=0.852m (base_body_z=-0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.007907m	[env.py: 870]
+05/15 00:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:32:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.44201993 -0.18188448 -0.00790737] yaw=-135.3deg	[env.py: 1019]
+05/15 00:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:32:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=283.0ms, total=283.0ms	[env.py: 1075]
+05/15 00:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.442, -0.182, -0.008)	[env.py: 1079]
+05/15 00:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.3 deg	[env.py: 1082]
+05/15 00:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m	[env.py: 1086]
+05/15 00:32:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:32:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:32:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:32:47 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:32:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:32:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:32:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:32:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:32:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:32:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:32:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.374s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:32:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.552[m] 119.703[deg]	[grasp_sample.py: 539]
+05/15 00:32:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:32:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:32:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:32:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:32:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:32:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:33:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:33:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:33:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:33:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:33:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:33:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:33:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:33:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:33:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:33:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:33:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:33:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:33:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:33:33 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.472s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:33:33 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.104[m] 0.479[deg]	[grasp_sample.py: 539]
+05/15 00:33:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:33:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:33:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:33:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:33:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:33:45 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:33:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:33:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:33:47 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:33:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:33:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:33:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:34:09 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[pipeline.py: 1174]
+05/15 00:34:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_105 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 00:34:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:34:09 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[pipeline.py: 1174]
+05/15 00:34:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_105 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 00:34:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:34:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:34:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[save_utils.py: 785]
+05/15 00:34:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_105 in 13.74s (batch: 3.00s, save: 10.74s)	[pipeline.py: 300]
+05/15 00:34:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:34:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[save_utils.py: 785]
+05/15 00:34:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_105 in 13.89s (batch: 3.09s, save: 10.81s)	[pipeline.py: 300]
+05/15 00:34:23 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.47s:
+  episode_total: mean=70.85s, total=212.56s, count=3, min=2927.2ms, max=204144.8ms
+  sensor_polling: mean=416.3ms, total=124.89s, count=300, min=374.5ms, max=731.3ms
+  save_trajectories: mean=10.74s, total=10.74s, count=1, min=10740.6ms, max=10740.6ms
+  physics_step: mean=24.9ms, total=7.47s, count=300, min=17.0ms, max=37.1ms
+  save_batch_prep: mean=3.00s, total=3.00s, count=1, min=3000.4ms, max=3000.4ms
+  task_sampling: mean=490.4ms, total=1.47s, count=3, min=418.3ms, max=615.9ms
+  task_specific_sample: mean=487.1ms, total=1.46s, count=3, min=415.4ms, max=611.3ms
+  scene_randomize: mean=1.8ms, total=5.4ms, count=3, min=1.1ms, max=3.1ms
+  mj_forward_sync: mean=457.5us, total=1.4ms, count=3, min=0.5ms, max=0.5ms
+  policy_setup: mean=14.3us, 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]
+05/15 00:34:23 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.05s:
+  episode_total: mean=85.21s, total=170.42s, count=2, min=3191.7ms, max=167224.0ms
+  sensor_polling: mean=394.2ms, total=118.27s, count=300, min=368.0ms, max=632.9ms
+  save_trajectories: mean=10.81s, total=10.81s, count=1, min=10807.6ms, max=10807.6ms
+  physics_step: mean=23.4ms, total=7.02s, count=300, min=16.9ms, max=33.2ms
+  save_batch_prep: mean=3.08s, total=3.08s, count=1, min=3085.0ms, max=3085.0ms
+  task_sampling: mean=523.7ms, total=1.05s, count=2, min=515.7ms, max=531.7ms
+  task_specific_sample: mean=520.3ms, total=1.04s, count=2, min=512.7ms, max=527.9ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.1ms, max=2.5ms
+  mj_forward_sync: mean=455.9us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:34:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:34:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:34:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:34:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:34:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:34:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:34:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:34:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:34:24 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]
+05/15 00:34:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:34:24 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]
+05/15 00:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028308m	[env.py: 870]
+05/15 00:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:34:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.15461539 -0.54135422  0.02830766] yaw=-171.1deg	[env.py: 1019]
+05/15 00:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 146.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.07674453 -0.5110593   0.02830766] yaw=-147.9deg	[env.py: 1019]
+05/15 00:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.07165306 -0.59091841  0.02830766] yaw=-153.2deg	[env.py: 1019]
+05/15 00:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:34:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.6ms, total=138.7ms	[env.py: 1075]
+05/15 00:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.155, -0.541, 0.028)	[env.py: 1079]
+05/15 00:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.1 deg	[env.py: 1082]
+05/15 00:34:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.960m	[env.py: 1086]
+05/15 00:34:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:34:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:34:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:34:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:34:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:34:25 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:34:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:34:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:34:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:34:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:34:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:34:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:34:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:34:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:34:25 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]
+05/15 00:34:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:34:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021285m	[env.py: 870]
+05/15 00:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:34:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 156.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.07700728 -0.49134057  0.02128479] yaw=-186.2deg	[env.py: 1019]
+05/15 00:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:34:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:34:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:34:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.10943467 -0.16901757  0.02128479] yaw=-126.1deg	[env.py: 1019]
+05/15 00:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 154.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:34:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:34:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=223.1ms, total=223.1ms	[env.py: 1075]
+05/15 00:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.077, -0.491, 0.021)	[env.py: 1079]
+05/15 00:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -186.2 deg	[env.py: 1082]
+05/15 00:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.196m	[env.py: 1086]
+05/15 00:34:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:34:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:34:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:34:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:34:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:34:25 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:34:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:34:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:34:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:34:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:34:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.660s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:34:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.442[m] 77.456[deg]	[grasp_sample.py: 539]
+05/15 00:34:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:34:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:34:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:34:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.183s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:34:28 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:34:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:34:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:34:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:34:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:34:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:34:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:34:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:34:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:34:29 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]
+05/15 00:34:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:34:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017570m	[env.py: 870]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:34:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.26784579 -1.2071484   0.01757023] yaw=170.3deg	[env.py: 1019]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 156.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.04313894 -1.11112051  0.01757023] yaw=169.2deg	[env.py: 1019]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -165.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.24460547 -0.93068917  0.01757023] yaw=190.5deg	[env.py: 1019]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:34:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=304.7ms, total=304.8ms	[env.py: 1075]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.268, -1.207, 0.018)	[env.py: 1079]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.3 deg	[env.py: 1082]
+05/15 00:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m	[env.py: 1086]
+05/15 00:34:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:34:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:34:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:34:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:34:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:34:29 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:34:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:34:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:34:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:34:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:34:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.738s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:34:30 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.578[m] 79.642[deg]	[grasp_sample.py: 539]
+05/15 00:34:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:34:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:34:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:34:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:34:38 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 00:34:38 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=False episode_total=0.51s:
+  episode_total: mean=135.98s, total=135.98s, count=1, min=135983.9ms, max=135983.9ms
+  sensor_polling: mean=413.4ms, total=124.03s, count=300, min=367.2ms, max=699.7ms
+  physics_step: mean=25.6ms, total=7.69s, count=300, min=17.0ms, max=37.7ms
+  task_sampling: mean=512.0ms, total=512.0ms, count=1, min=512.0ms, max=512.0ms
+  task_specific_sample: mean=509.4ms, total=509.4ms, count=1, min=509.4ms, max=509.4ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=461.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:34:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:34:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:34:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:34:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:34:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:34:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:34:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:34:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:34:39 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]
+05/15 00:34:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:34:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.035m, effective arm-mount z=0.825m (base_body_z=-0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:34:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:34:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:34:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.034538m	[env.py: 870]
+05/15 00:34:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:34:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:34:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:34:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:34:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:34:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:34:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.00450729 -1.11871851 -0.03453754] yaw=152.9deg	[env.py: 1019]
+05/15 00:34:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:34:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:34:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.32148255 -0.51181376 -0.03453754] yaw=-138.8deg	[env.py: 1019]
+05/15 00:34:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:34:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.13101999 -0.57007356 -0.03453754] yaw=-184.8deg	[env.py: 1019]
+05/15 00:34:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:34:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:34:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=184.1ms, total=184.2ms	[env.py: 1075]
+05/15 00:34:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.005, -1.119, -0.035)	[env.py: 1079]
+05/15 00:34:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.9 deg	[env.py: 1082]
+05/15 00:34:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.121m	[env.py: 1086]
+05/15 00:34:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:34:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:34:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:34:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:34:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:34:39 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:34:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:34:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:34:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:34:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:34:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.241s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:34:42 INFO: [Worker 0] Feasible grasp found 13 (originally 13): w/ 0.689[m] 67.094[deg]	[grasp_sample.py: 539]
+05/15 00:34:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:34:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:34:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:34:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:34:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:34:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:34:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:34:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:35:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:35:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:35:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:35:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:35:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:35:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:35:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:35:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:35:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:35:06 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.011s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:35:06 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.648[deg]	[grasp_sample.py: 539]
+05/15 00:35:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:35:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:35:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:35:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:35:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:35:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:35:17 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:35:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:35:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:35:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:35:39 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[pipeline.py: 1174]
+05/15 00:35:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_105 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 00:35:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:35:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:35:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:35:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:35:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:35:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[save_utils.py: 785]
+05/15 00:35:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_105 in 13.81s (batch: 3.07s, save: 10.75s)	[pipeline.py: 300]
+05/15 00:35:54 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.58s:
+  episode_total: mean=187.12s, total=187.12s, count=1, min=187123.0ms, max=187123.0ms
+  sensor_polling: mean=419.4ms, total=125.82s, count=300, min=390.3ms, max=718.1ms
+  save_trajectories: mean=10.75s, total=10.75s, count=1, min=10748.8ms, max=10748.8ms
+  physics_step: mean=24.1ms, total=7.22s, count=300, min=16.0ms, max=37.0ms
+  save_batch_prep: mean=3.07s, total=3.07s, count=1, min=3065.8ms, max=3065.8ms
+  task_sampling: mean=578.7ms, total=578.7ms, count=1, min=578.7ms, max=578.7ms
+  task_specific_sample: mean=573.7ms, total=573.7ms, count=1, min=573.7ms, max=573.7ms
+  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  mj_forward_sync: mean=605.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=16.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:35:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:35:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:35:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:35:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:35:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:35:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:35:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:35:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:35:55 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]
+05/15 00:35:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:35:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048712m	[env.py: 870]
+05/15 00:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:35:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 154.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.52159221 -0.0288864   0.04871193] yaw=-134.3deg	[env.py: 1019]
+05/15 00:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.19358237 -0.63136846  0.04871193] yaw=-143.0deg	[env.py: 1019]
+05/15 00:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.17673136 -0.32960851  0.04871193] yaw=-154.8deg	[env.py: 1019]
+05/15 00:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:35:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.6ms, total=153.7ms	[env.py: 1075]
+05/15 00:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.522, -0.029, 0.049)	[env.py: 1079]
+05/15 00:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.3 deg	[env.py: 1082]
+05/15 00:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m	[env.py: 1086]
+05/15 00:35:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:35:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:35:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:35:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:35:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:35:55 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:35:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:35:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:35:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:35:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:35:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.152s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:35:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.543[m] 116.539[deg]	[grasp_sample.py: 539]
+05/15 00:35:58 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 00:36:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:36:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:36:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:36:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:36:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:36:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:36:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:36:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:36:00 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]
+05/15 00:36:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:36:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002735m	[env.py: 870]
+05/15 00:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:36:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.29714226 -0.21788455 -0.00273482] yaw=-145.3deg	[env.py: 1019]
+05/15 00:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.11025573 -0.89357793 -0.00273482] yaw=194.5deg	[env.py: 1019]
+05/15 00:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:36:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=219.5ms, total=219.5ms	[env.py: 1075]
+05/15 00:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.297, -0.218, -0.003)	[env.py: 1079]
+05/15 00:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.3 deg	[env.py: 1082]
+05/15 00:36:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m	[env.py: 1086]
+05/15 00:36:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:36:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:36:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:36:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:36:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:36:00 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:36:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:36:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:36:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:36:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:36:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:36:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.248s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:36:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.691[m] 135.336[deg]	[grasp_sample.py: 539]
+05/15 00:36:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:36:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:36:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:36:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:36:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:36:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:36:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:36:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:36:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:36:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:36:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:36:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:36:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:36:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:36:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:36:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:36:14 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.947s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:36:14 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.115[m] 4.072[deg]	[grasp_sample.py: 539]
+05/15 00:36:16 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 00:36:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:36:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:36:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:36:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:36:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:36:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:36:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:36:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:36:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 00:36:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:36:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023492m	[env.py: 870]
+05/15 00:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:36:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.09993356 -1.0148501   0.023492  ] yaw=163.0deg	[env.py: 1019]
+05/15 00:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.40239632 -0.36394699  0.023492  ] yaw=-123.2deg	[env.py: 1019]
+05/15 00:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 153.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.08089105 -0.65463445  0.023492  ] yaw=-194.5deg	[env.py: 1019]
+05/15 00:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:36:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=216.4ms, total=216.5ms	[env.py: 1075]
+05/15 00:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.100, -1.015, 0.023)	[env.py: 1079]
+05/15 00:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.0 deg	[env.py: 1082]
+05/15 00:36:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.994m	[env.py: 1086]
+05/15 00:36:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:36:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:36:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:36:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:36:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:36:18 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:36:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:36:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:36:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:36:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:36:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.066s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:36:19 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.617[m] 103.956[deg]	[grasp_sample.py: 539]
+05/15 00:36:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:36:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:36:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:36:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:36:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:36:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:36:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:36:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:36:40 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:36:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:36:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:36:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:36:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:36:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:36:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:36:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:36:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:36:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:36:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:36:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:36:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:36:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 82 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:36:57 INFO: [Worker 0] Feasibility-checked 82 grasps in 0.636s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:36:57 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.028[m] 0.660[deg]	[grasp_sample.py: 539]
+05/15 00:36:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:36:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:36:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:37:02 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[pipeline.py: 1174]
+05/15 00:37:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_105 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 00:37:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:37:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:37:08 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:37:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:37:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:37:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:37:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[save_utils.py: 785]
+05/15 00:37:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_105 in 14.25s (batch: 3.28s, save: 10.96s)	[pipeline.py: 300]
+05/15 00:37:16 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.39s:
+  episode_total: mean=172.13s, total=172.13s, count=1, min=172134.2ms, max=172134.2ms
+  sensor_polling: mean=414.4ms, total=124.33s, count=300, min=376.4ms, max=691.7ms
+  save_trajectories: mean=10.96s, total=10.96s, count=1, min=10964.6ms, max=10964.6ms
+  physics_step: mean=25.2ms, total=7.55s, count=300, min=21.5ms, max=34.2ms
+  save_batch_prep: mean=3.28s, total=3.28s, count=1, min=3280.4ms, max=3280.4ms
+  task_sampling: mean=385.3ms, total=385.3ms, count=1, min=385.3ms, max=385.3ms
+  task_specific_sample: mean=381.5ms, total=381.5ms, count=1, min=381.5ms, max=381.5ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=455.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:37:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:37:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:37:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:37:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:37:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:37:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:37:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:37:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:37:18 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]
+05/15 00:37:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:37:18 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]
+05/15 00:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.081782m	[env.py: 870]
+05/15 00:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:37:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.07500497 -1.13138204 -0.08178182] yaw=161.7deg	[env.py: 1019]
+05/15 00:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.25598479 -0.78031922 -0.08178182] yaw=-176.4deg	[env.py: 1019]
+05/15 00:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.08062286 -0.65591327 -0.08178182] yaw=-178.0deg	[env.py: 1019]
+05/15 00:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:37:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=198.9ms, total=199.0ms	[env.py: 1075]
+05/15 00:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.075, -1.131, -0.082)	[env.py: 1079]
+05/15 00:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.7 deg	[env.py: 1082]
+05/15 00:37:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.192m	[env.py: 1086]
+05/15 00:37:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:37:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:37:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:37:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:37:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:37:18 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:37:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:37:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:37:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:37:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:37:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.079s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:37:21 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:37:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:37:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:37:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:37:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:37:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:37:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:37:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:37:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:37:22 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]
+05/15 00:37:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:37:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055412m	[env.py: 870]
+05/15 00:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:37:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.18105889 -0.16395275  0.05541151] yaw=-139.1deg	[env.py: 1019]
+05/15 00:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 149.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 146.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -146.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.02464362 -1.00235281  0.05541151] yaw=163.1deg	[env.py: 1019]
+05/15 00:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:37:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.43547336  0.07534227  0.05541151] yaw=-107.8deg	[env.py: 1019]
+05/15 00:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:37:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=159.3ms, total=159.4ms	[env.py: 1075]
+05/15 00:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.181, -0.164, 0.055)	[env.py: 1079]
+05/15 00:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.1 deg	[env.py: 1082]
+05/15 00:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.106m	[env.py: 1086]
+05/15 00:37:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:37:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:37:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:37:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:37:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:37:23 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:37:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:37:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:37:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:37:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:37:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:37:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.382s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 00:37:25 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 00:37:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:37:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:37:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:37:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:37:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:37:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:37:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:37:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:37:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:37:26 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]
+05/15 00:37:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:37:26 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]
+05/15 00:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011961m	[env.py: 870]
+05/15 00:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:37:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 148.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.33332322 -0.3383296   0.01196141] yaw=-141.3deg	[env.py: 1019]
+05/15 00:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 178.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.17657596 -0.58439412  0.01196141] yaw=-166.2deg	[env.py: 1019]
+05/15 00:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.17402049 -0.13861916  0.01196141] yaw=-153.9deg	[env.py: 1019]
+05/15 00:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:37:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=247.2ms, total=247.3ms	[env.py: 1075]
+05/15 00:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.333, -0.338, 0.012)	[env.py: 1079]
+05/15 00:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.3 deg	[env.py: 1082]
+05/15 00:37:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m	[env.py: 1086]
+05/15 00:37:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:37:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:37:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:37:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:37:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:37:27 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:37:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:37:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:37:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:37:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:37:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:37:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.770s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:37:28 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.387[m] 91.857[deg]	[grasp_sample.py: 539]
+05/15 00:37:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:37:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:37:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:37:30 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[pipeline.py: 1174]
+05/15 00:37:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_105 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 00:37:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:37:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:37:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:37:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[save_utils.py: 785]
+05/15 00:37:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_105 in 13.68s (batch: 3.21s, save: 10.48s)	[pipeline.py: 300]
+05/15 00:37:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:37:44 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.10s:
+  episode_total: mean=99.07s, total=198.14s, count=2, min=2889.1ms, max=195250.2ms
+  sensor_polling: mean=416.4ms, total=124.91s, count=300, min=380.7ms, max=672.4ms
+  save_trajectories: mean=10.48s, total=10.48s, count=1, min=10475.6ms, max=10475.6ms
+  physics_step: mean=24.4ms, total=7.32s, count=300, min=15.4ms, max=35.7ms
+  save_batch_prep: mean=3.21s, total=3.21s, count=1, min=3207.6ms, max=3207.6ms
+  task_sampling: mean=550.5ms, total=1.10s, count=2, min=530.0ms, max=571.1ms
+  task_specific_sample: mean=547.1ms, total=1.09s, count=2, min=526.1ms, max=568.1ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.1ms, max=2.5ms
+  mj_forward_sync: mean=453.4us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=14.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:37:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:37:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:37:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:37:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:37:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:37:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:37:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:37:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:37:46 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]
+05/15 00:37:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:37:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.017m, effective arm-mount z=0.843m (base_body_z=-0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:37:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:37:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:37:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.016954m	[env.py: 870]
+05/15 00:37:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:37:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:37:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:37:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.35208943 -0.31463833 -0.01695398] yaw=-136.6deg	[env.py: 1019]
+05/15 00:37:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:37:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:37:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 145.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:37:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:37:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:37:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 140.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:37:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.06606687 -0.64602093 -0.01695398] yaw=-192.1deg	[env.py: 1019]
+05/15 00:37:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:37:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.02008398 -1.23396982 -0.01695398] yaw=141.4deg	[env.py: 1019]
+05/15 00:37:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:37:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:37:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=170.5ms, total=170.5ms	[env.py: 1075]
+05/15 00:37:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.352, -0.315, -0.017)	[env.py: 1079]
+05/15 00:37:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.6 deg	[env.py: 1082]
+05/15 00:37:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m	[env.py: 1086]
+05/15 00:37:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:37:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:37:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:37:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:37:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:37:46 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:37:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:37:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:37:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:37:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:37:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.183s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:37:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.484[m] 93.254[deg]	[grasp_sample.py: 539]
+05/15 00:37:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:37:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:37:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:37:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:37:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:37:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:37:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:37:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:37:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:37:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:37:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:37:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:37:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:37:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:37:55 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.726s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:37:55 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.030[m] 0.608[deg]	[grasp_sample.py: 539]
+05/15 00:37:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:37:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:37:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:37:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:38:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:38:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:38:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:38:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:38:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:38:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:38:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:38:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:38:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:38:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:38:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:38:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:38:25 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:38:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:38:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:38:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:38:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:38:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:38:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:38:28 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.234s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:38:28 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.974[deg]	[grasp_sample.py: 539]
+05/15 00:38:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:38:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:38:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:38:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:38:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:38:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:38:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:38:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:38:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:38:47 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[pipeline.py: 1174]
+05/15 00:38:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_105 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 00:38:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:38:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:38:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:38:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:38:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:38:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:38:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:39:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:39:00 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 00:39:00 WARNING: [Worker 0] Asset Fridge_m (hash: c5ee371e5ee9c94dd64f357b5ff4cf8f) dynamically blacklisted after 10 failures: rollout failed (e.g., IK failure)	[task_sampler.py: 396]
+05/15 00:39:00 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=False episode_total=0.91s:
+  episode_total: mean=129.79s, total=259.57s, count=2, min=96701.3ms, max=162869.7ms
+  sensor_polling: mean=402.6ms, total=195.64s, count=486, min=371.1ms, max=734.1ms
+  physics_step: mean=23.7ms, total=11.53s, count=486, min=14.9ms, max=52.7ms
+  task_sampling: mean=453.6ms, total=907.3ms, count=2, min=439.9ms, max=467.3ms
+  task_specific_sample: mean=450.0ms, total=900.0ms, count=2, min=436.1ms, max=463.9ms
+  scene_randomize: mean=1.4ms, total=2.7ms, count=2, min=1.2ms, max=1.5ms
+  mj_forward_sync: mean=455.4us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=13.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:39:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:39:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[save_utils.py: 785]
+05/15 00:39:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_105 in 14.23s (batch: 3.12s, save: 11.11s)	[pipeline.py: 300]
+05/15 00:39:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:39:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:39:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:39:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:39:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:39:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:39:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:39:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:39:01 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]
+05/15 00:39:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:39:01 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]
+05/15 00:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010819m	[env.py: 870]
+05/15 00:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:39:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 132.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.52041879 -0.02151088  0.01081857] yaw=-128.8deg	[env.py: 1019]
+05/15 00:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.05802617 -0.55417239  0.01081857] yaw=-150.5deg	[env.py: 1019]
+05/15 00:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:39:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=183.8ms, total=183.9ms	[env.py: 1075]
+05/15 00:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.520, -0.022, 0.011)	[env.py: 1079]
+05/15 00:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.8 deg	[env.py: 1082]
+05/15 00:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m	[env.py: 1086]
+05/15 00:39:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:39:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:39:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:39:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:39:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:39:02 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:39:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:39:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:39:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:39:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:39:02 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.89s:
+  episode_total: mean=92.79s, total=185.58s, count=2, min=3359.3ms, max=182220.5ms
+  sensor_polling: mean=438.4ms, total=131.51s, count=300, min=381.8ms, max=736.0ms
+  save_trajectories: mean=11.11s, total=11.11s, count=1, min=11112.6ms, max=11112.6ms
+  physics_step: mean=25.6ms, total=7.69s, count=300, min=21.6ms, max=62.2ms
+  save_batch_prep: mean=3.12s, total=3.12s, count=1, min=3122.0ms, max=3122.0ms
+  task_sampling: mean=446.1ms, total=892.2ms, count=2, min=426.8ms, max=465.4ms
+  task_specific_sample: mean=442.7ms, total=885.4ms, count=2, min=423.5ms, max=462.0ms
+  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.3ms, max=2.0ms
+  mj_forward_sync: mean=532.1us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  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]
+05/15 00:39:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:39:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:39:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:39:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:39:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:39:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:39:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:39:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:39:04 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]
+05/15 00:39:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:39:04 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]
+05/15 00:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024629m	[env.py: 870]
+05/15 00:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:39:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -150.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.23482804 -1.11157623 -0.02462931] yaw=167.0deg	[env.py: 1019]
+05/15 00:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-7.46179446e-04 -8.62871154e-01 -2.46293125e-02] yaw=205.4deg	[env.py: 1019]
+05/15 00:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:39:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=204.9ms, total=205.0ms	[env.py: 1075]
+05/15 00:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.235, -1.112, -0.025)	[env.py: 1079]
+05/15 00:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.0 deg	[env.py: 1082]
+05/15 00:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m	[env.py: 1086]
+05/15 00:39:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:39:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:39:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:39:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:39:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:39:04 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:39:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:39:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:39:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:39:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:39:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.241s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:39:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.738[m] 104.596[deg]	[grasp_sample.py: 539]
+05/15 00:39:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.994s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:39:05 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.447[m] 81.916[deg]	[grasp_sample.py: 539]
+05/15 00:39:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:39:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:39:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:39:06 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 00:39:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:39:07 WARNING: [Worker 0] No trajectory data to save for chunk_105	[pipeline.py: 234]
+05/15 00:39:07 WARNING: [Worker 0] No trajectory data to save for chunk_105	[pipeline.py: 234]
+05/15 00:39:07 INFO: [Worker 0] Worker 0 completed house 1: 5/10 successful episodes	[pipeline.py: 1323]
+05/15 00:39:07 INFO: [Worker 0] [PROFILE] House 1 complete: 5/10 successful, 10 episodes, total_time=3228.90s
+  House averages:
+  episode_total: mean=97.68s, total=1758.27s, count=18, min=2687.4ms, max=190550.2ms
+  sensor_polling: mean=405.2ms, total=1290.90s, count=3186, min=364.5ms, max=791.7ms
+  physics_step: mean=24.3ms, total=77.47s, count=3186, min=14.9ms, max=67.4ms
+  save_trajectories: mean=11.76s, total=58.81s, count=5, min=10667.1ms, max=12664.4ms
+  save_batch_prep: mean=3.30s, total=16.50s, count=5, min=3051.1ms, max=3579.1ms
+  task_sampling: mean=639.0ms, total=11.50s, count=18, min=408.2ms, max=3265.7ms
+  task_specific_sample: mean=476.7ms, total=8.58s, count=18, min=404.2ms, max=789.6ms
+  scene_load: mean=2.86s, total=2.86s, count=1, min=2859.1ms, max=2859.1ms
+  scene_env_create: mean=1.68s, total=1.68s, count=1, min=1676.3ms, max=1676.3ms
+  scene_compile: mean=993.9ms, total=993.9ms, count=1, min=993.9ms, max=993.9ms
+  compile_mujoco: mean=687.2ms, total=687.2ms, count=1, min=687.2ms, max=687.2ms
+  compile_xml_load: mean=233.2ms, total=233.2ms, count=1, min=233.2ms, max=233.2ms
+  scene_init: mean=117.6ms, total=117.6ms, count=1, min=117.6ms, max=117.6ms
+  scene_asset_install: mean=71.1ms, total=71.1ms, count=1, min=71.1ms, max=71.1ms
+  asset_install_grasps: mean=56.5ms, total=56.5ms, count=1, min=56.5ms, max=56.5ms
+  compile_aux_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms
+  compile_aux_policy_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms
+  scene_randomize: mean=1.7ms, total=31.3ms, count=18, min=1.1ms, max=3.3ms
+  asset_install_objects: mean=11.3ms, total=11.3ms, count=1, min=11.3ms, max=11.3ms
+  mj_forward_sync: mean=505.1us, total=9.1ms, count=18, min=0.4ms, max=0.8ms
+  compile_robot_add: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms
+  asset_install_scene: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  policy_setup: mean=17.8us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/15 00:39:07 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/15 00:39:07 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=3228.90s
+  Worker averages:
+  episode_total: mean=97.68s, total=1758.27s, count=18, min=2687.4ms, max=190550.2ms
+  sensor_polling: mean=405.2ms, total=1290.90s, count=3186, min=364.5ms, max=791.7ms
+  physics_step: mean=24.3ms, total=77.47s, count=3186, min=14.9ms, max=67.4ms
+  save_trajectories: mean=11.76s, total=58.81s, count=5, min=10667.1ms, max=12664.4ms
+  save_batch_prep: mean=3.30s, total=16.50s, count=5, min=3051.1ms, max=3579.1ms
+  task_sampling: mean=639.0ms, total=11.50s, count=18, min=408.2ms, max=3265.7ms
+  task_specific_sample: mean=476.7ms, total=8.58s, count=18, min=404.2ms, max=789.6ms
+  scene_load: mean=2.86s, total=2.86s, count=1, min=2859.1ms, max=2859.1ms
+  scene_env_create: mean=1.68s, total=1.68s, count=1, min=1676.3ms, max=1676.3ms
+  scene_compile: mean=993.9ms, total=993.9ms, count=1, min=993.9ms, max=993.9ms
+  compile_mujoco: mean=687.2ms, total=687.2ms, count=1, min=687.2ms, max=687.2ms
+  compile_xml_load: mean=233.2ms, total=233.2ms, count=1, min=233.2ms, max=233.2ms
+  scene_init: mean=117.6ms, total=117.6ms, count=1, min=117.6ms, max=117.6ms
+  scene_asset_install: mean=71.1ms, total=71.1ms, count=1, min=71.1ms, max=71.1ms
+  asset_install_grasps: mean=56.5ms, total=56.5ms, count=1, min=56.5ms, max=56.5ms
+  compile_aux_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms
+  compile_aux_policy_objects: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms
+  scene_randomize: mean=1.7ms, total=31.3ms, count=18, min=1.1ms, max=3.3ms
+  asset_install_objects: mean=11.3ms, total=11.3ms, count=1, min=11.3ms, max=11.3ms
+  mj_forward_sync: mean=505.1us, total=9.1ms, count=18, min=0.4ms, max=0.8ms
+  compile_robot_add: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms
+  asset_install_scene: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  policy_setup: mean=17.8us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/15 00:39:10 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/15 00:39:10 INFO: Success count: 5, Total count: 10	[pipeline.py: 1491]
+05/15 00:39:10 INFO: Success rate: 50.00%	[pipeline.py: 1492]
+05/15 00:39:39 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:39:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:39:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:39:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:40:00 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:40:00 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[pipeline.py: 1174]
+05/15 00:40:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_105 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 00:40:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:40:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:40:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[save_utils.py: 785]
+05/15 00:40:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_105 in 14.37s (batch: 3.08s, save: 11.29s)	[pipeline.py: 300]
+05/15 00:40:15 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.40s:
+  episode_total: mean=58.09s, total=174.26s, count=3, min=2765.4ms, max=168576.1ms
+  sensor_polling: mean=404.5ms, total=121.35s, count=300, min=373.6ms, max=783.8ms
+  save_trajectories: mean=11.29s, total=11.29s, count=1, min=11290.7ms, max=11290.7ms
+  physics_step: mean=24.6ms, total=7.37s, count=300, min=17.1ms, max=37.6ms
+  save_batch_prep: mean=3.08s, total=3.08s, count=1, min=3080.9ms, max=3080.9ms
+  task_sampling: mean=466.0ms, total=1.40s, count=3, min=405.8ms, max=499.3ms
+  task_specific_sample: mean=462.6ms, total=1.39s, count=3, min=402.5ms, max=495.6ms
+  scene_randomize: mean=1.8ms, total=5.5ms, count=3, min=1.5ms, max=2.1ms
+  mj_forward_sync: mean=509.5us, total=1.5ms, count=3, min=0.5ms, max=0.6ms
+  policy_setup: mean=15.4us, 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]
+05/15 00:40:16 WARNING: [Worker 0] No trajectory data to save for chunk_105	[pipeline.py: 234]
+05/15 00:40:16 WARNING: [Worker 0] No trajectory data to save for chunk_105	[pipeline.py: 234]
+05/15 00:40:16 INFO: [Worker 0] Worker 0 completed house 1: 9/10 successful episodes	[pipeline.py: 1323]
+05/15 00:40:16 INFO: [Worker 0] [PROFILE] House 1 complete: 9/10 successful, 10 episodes, total_time=3287.40s
+  House averages:
+  episode_total: mean=101.77s, total=1831.84s, count=18, min=2765.4ms, max=206133.1ms
+  sensor_polling: mean=410.8ms, total=1232.26s, count=3000, min=369.7ms, max=783.8ms
+  save_trajectories: mean=10.69s, total=96.18s, count=9, min=10330.5ms, max=11290.7ms
+  physics_step: mean=24.8ms, total=74.40s, count=3000, min=16.2ms, max=47.3ms
+  save_batch_prep: mean=3.02s, total=27.17s, count=9, min=2799.5ms, max=3280.4ms
+  task_sampling: mean=606.5ms, total=10.92s, count=18, min=309.0ms, max=3255.3ms
+  task_specific_sample: mean=449.7ms, total=8.09s, count=18, min=306.4ms, max=611.3ms
+  scene_load: mean=2.76s, total=2.76s, count=1, min=2761.3ms, max=2761.3ms
+  scene_env_create: mean=1.70s, total=1.70s, count=1, min=1704.3ms, max=1704.3ms
+  scene_compile: mean=883.9ms, total=883.9ms, count=1, min=883.9ms, max=883.9ms
+  compile_mujoco: mean=627.3ms, total=627.3ms, count=1, min=627.3ms, max=627.3ms
+  compile_xml_load: mean=184.1ms, total=184.1ms, count=1, min=184.1ms, max=184.1ms
+  scene_init: mean=122.0ms, total=122.0ms, count=1, min=122.0ms, max=122.0ms
+  compile_aux_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms
+  compile_aux_policy_objects: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms
+  scene_asset_install: mean=50.7ms, total=50.7ms, count=1, min=50.7ms, max=50.7ms
+  asset_install_grasps: mean=37.3ms, total=37.3ms, count=1, min=37.3ms, max=37.3ms
+  scene_randomize: mean=1.9ms, total=34.0ms, count=18, min=1.1ms, max=3.2ms
+  asset_install_objects: mean=10.5ms, total=10.5ms, count=1, min=10.5ms, max=10.5ms
+  mj_forward_sync: mean=474.2us, total=8.5ms, count=18, min=0.4ms, max=0.6ms
+  compile_robot_add: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms
+  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  policy_setup: mean=18.6us, total=0.3ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/15 00:40:16 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/15 00:40:16 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=3287.40s
+  Worker averages:
+  episode_total: mean=101.77s, total=1831.84s, count=18, min=2765.4ms, max=206133.1ms
+  sensor_polling: mean=410.8ms, total=1232.26s, count=3000, min=369.7ms, max=783.8ms
+  save_trajectories: mean=10.69s, total=96.18s, count=9, min=10330.5ms, max=11290.7ms
+  physics_step: mean=24.8ms, total=74.40s, count=3000, min=16.2ms, max=47.3ms
+  save_batch_prep: mean=3.02s, total=27.17s, count=9, min=2799.5ms, max=3280.4ms
+  task_sampling: mean=606.5ms, total=10.92s, count=18, min=309.0ms, max=3255.3ms
+  task_specific_sample: mean=449.7ms, total=8.09s, count=18, min=306.4ms, max=611.3ms
+  scene_load: mean=2.76s, total=2.76s, count=1, min=2761.3ms, max=2761.3ms
+  scene_env_create: mean=1.70s, total=1.70s, count=1, min=1704.3ms, max=1704.3ms
+  scene_compile: mean=883.9ms, total=883.9ms, count=1, min=883.9ms, max=883.9ms
+  compile_mujoco: mean=627.3ms, total=627.3ms, count=1, min=627.3ms, max=627.3ms
+  compile_xml_load: mean=184.1ms, total=184.1ms, count=1, min=184.1ms, max=184.1ms
+  scene_init: mean=122.0ms, total=122.0ms, count=1, min=122.0ms, max=122.0ms
+  compile_aux_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms
+  compile_aux_policy_objects: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms
+  scene_asset_install: mean=50.7ms, total=50.7ms, count=1, min=50.7ms, max=50.7ms
+  asset_install_grasps: mean=37.3ms, total=37.3ms, count=1, min=37.3ms, max=37.3ms
+  scene_randomize: mean=1.9ms, total=34.0ms, count=18, min=1.1ms, max=3.2ms
+  asset_install_objects: mean=10.5ms, total=10.5ms, count=1, min=10.5ms, max=10.5ms
+  mj_forward_sync: mean=474.2us, total=8.5ms, count=18, min=0.4ms, max=0.6ms
+  compile_robot_add: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms
+  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  policy_setup: mean=18.6us, total=0.3ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/15 00:40:19 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/15 00:40:19 INFO: Success count: 9, Total count: 10	[pipeline.py: 1491]
+05/15 00:40:19 INFO: Success rate: 90.00%	[pipeline.py: 1492]
+05/15 00:40:21 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[pipeline.py: 1174]
+05/15 00:40:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_105 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 00:40:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:40:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:40:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[save_utils.py: 785]
+05/15 00:40:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_105 in 13.71s (batch: 2.98s, save: 10.73s)	[pipeline.py: 300]
+05/15 00:40:35 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.45s:
+  episode_total: mean=169.82s, total=169.82s, count=1, min=169822.4ms, max=169822.4ms
+  sensor_polling: mean=407.4ms, total=122.23s, count=300, min=371.3ms, max=693.5ms
+  save_trajectories: mean=10.73s, total=10.73s, count=1, min=10729.5ms, max=10729.5ms
+  physics_step: mean=24.9ms, total=7.47s, count=300, min=16.8ms, max=35.8ms
+  save_batch_prep: mean=2.98s, total=2.98s, count=1, min=2982.5ms, max=2982.5ms
+  task_sampling: mean=448.9ms, total=448.9ms, count=1, min=448.9ms, max=448.9ms
+  task_specific_sample: mean=444.6ms, total=444.6ms, count=1, min=444.6ms, max=444.6ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=509.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=14.6us, 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]
+05/15 00:40:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:40:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:40:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:40:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:40:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:40:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:40:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:40:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:40:37 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]
+05/15 00:40:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:40:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.041415m	[env.py: 870]
+05/15 00:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:40:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.2472077  -1.13449362 -0.04141532] yaw=132.7deg	[env.py: 1019]
+05/15 00:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.4367013  -0.08561232 -0.04141532] yaw=-127.5deg	[env.py: 1019]
+05/15 00:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 00:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.3526249   0.1088915  -0.04141532] yaw=-153.8deg	[env.py: 1019]
+05/15 00:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:40:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=275.9ms, total=276.0ms	[env.py: 1075]
+05/15 00:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.247, -1.134, -0.041)	[env.py: 1079]
+05/15 00:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 132.7 deg	[env.py: 1082]
+05/15 00:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m	[env.py: 1086]
+05/15 00:40:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:40:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:40:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:40:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:40:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:40:37 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:40:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:40:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:40:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:40:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:40:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.066s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:40:38 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.388[m] 76.141[deg]	[grasp_sample.py: 539]
+05/15 00:40:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:40:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:40:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:40:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:41:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:41:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:41:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:41:26 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:41:47 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[pipeline.py: 1174]
+05/15 00:41:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_105 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 00:41:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:42:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:42:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[save_utils.py: 785]
+05/15 00:42:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_105 in 14.14s (batch: 3.15s, save: 10.99s)	[pipeline.py: 300]
+05/15 00:42:01 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.49s:
+  episode_total: mean=177.71s, total=177.71s, count=1, min=177709.2ms, max=177709.2ms
+  sensor_polling: mean=426.4ms, total=127.93s, count=300, min=403.7ms, max=661.3ms
+  save_trajectories: mean=10.99s, total=10.99s, count=1, min=10989.0ms, max=10989.0ms
+  physics_step: mean=24.7ms, total=7.42s, count=300, min=21.7ms, max=35.0ms
+  save_batch_prep: mean=3.15s, total=3.15s, count=1, min=3149.0ms, max=3149.0ms
+  task_sampling: mean=486.4ms, total=486.4ms, count=1, min=486.4ms, max=486.4ms
+  task_specific_sample: mean=481.8ms, total=481.8ms, count=1, min=481.8ms, max=481.8ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=455.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:42:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 00:42:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 00:42:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 00:42:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:42:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:42:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:42:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:42:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 00:42:03 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]
+05/15 00:42:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 00:42:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 00:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 00:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 00:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030488m	[env.py: 870]
+05/15 00:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 00:42:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 00:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 00:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.10487929 -0.79462088  0.03048765] yaw=-185.5deg	[env.py: 1019]
+05/15 00:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 00:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.02005788 -1.0647474   0.03048765] yaw=166.0deg	[env.py: 1019]
+05/15 00:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 00:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.42935938  0.12243738  0.03048765] yaw=-117.0deg	[env.py: 1019]
+05/15 00:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 00:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 00:42:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=78.9ms, total=78.9ms	[env.py: 1075]
+05/15 00:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.105, -0.795, 0.030)	[env.py: 1079]
+05/15 00:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -185.5 deg	[env.py: 1082]
+05/15 00:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m	[env.py: 1086]
+05/15 00:42:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 00:42:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 00:42:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 00:42:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 00:42:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 00:42:03 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/15 00:42:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/15 00:42:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:42:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:42:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:42:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.759s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:42:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.469[m] 84.331[deg]	[grasp_sample.py: 539]
+05/15 00:42:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:42:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:42:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:42:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 00:42:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:42:47 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:42:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 00:42:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:43:07 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[pipeline.py: 1174]
+05/15 00:43:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_105 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 00:43:07 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
+05/15 00:43:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:43:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[save_utils.py: 785]
+05/15 00:43:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_105 in 13.67s (batch: 2.99s, save: 10.68s)	[pipeline.py: 300]
+05/15 00:43:22 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.54s:
+  episode_total: mean=164.86s, total=164.86s, count=1, min=164863.9ms, max=164863.9ms
+  sensor_polling: mean=390.3ms, total=115.92s, count=297, min=376.8ms, max=619.6ms
+  save_trajectories: mean=10.68s, total=10.68s, count=1, min=10676.2ms, max=10676.2ms
+  physics_step: mean=23.7ms, total=7.03s, count=297, min=16.7ms, max=33.7ms
+  save_batch_prep: mean=2.99s, total=2.99s, count=1, min=2994.3ms, max=2994.3ms
+  task_sampling: mean=540.5ms, total=540.5ms, count=1, min=540.5ms, max=540.5ms
+  task_specific_sample: mean=536.7ms, total=536.7ms, count=1, min=536.7ms, max=536.7ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=458.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.5us, 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]
+05/15 00:43:23 WARNING: [Worker 0] No trajectory data to save for chunk_105	[pipeline.py: 234]
+05/15 00:43:23 WARNING: [Worker 0] No trajectory data to save for chunk_105	[pipeline.py: 234]
+05/15 00:43:23 INFO: [Worker 0] Worker 0 completed house 1: 8/9 successful episodes	[pipeline.py: 1323]
+05/15 00:43:23 INFO: [Worker 0] [PROFILE] House 1 complete: 8/9 successful, 9 episodes, total_time=3608.97s
+  House averages:
+  episode_total: mean=112.04s, total=2016.66s, count=18, min=2860.8ms, max=195250.2ms
+  sensor_polling: mean=403.8ms, total=1372.58s, count=3399, min=368.0ms, max=728.4ms
+  save_trajectories: mean=10.73s, total=85.87s, count=8, min=10475.6ms, max=11309.7ms
+  physics_step: mean=24.1ms, total=82.05s, count=3399, min=15.4ms, max=56.5ms
+  save_batch_prep: mean=3.19s, total=25.51s, count=8, min=2982.5ms, max=3731.8ms
+  task_sampling: mean=618.6ms, total=11.13s, count=18, min=337.1ms, max=3468.2ms
+  task_specific_sample: mean=449.1ms, total=8.08s, count=18, min=334.4ms, max=570.5ms
+  scene_load: mean=2.99s, total=2.99s, count=1, min=2990.9ms, max=2990.9ms
+  scene_env_create: mean=1.85s, total=1.85s, count=1, min=1853.6ms, max=1853.6ms
+  scene_compile: mean=967.2ms, total=967.2ms, count=1, min=967.2ms, max=967.2ms
+  compile_mujoco: mean=708.1ms, total=708.1ms, count=1, min=708.1ms, max=708.1ms
+  compile_xml_load: mean=187.5ms, total=187.5ms, count=1, min=187.5ms, max=187.5ms
+  scene_init: mean=115.6ms, total=115.6ms, count=1, min=115.6ms, max=115.6ms
+  scene_asset_install: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms
+  compile_aux_objects: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms
+  compile_aux_policy_objects: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms
+  asset_install_grasps: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
+  scene_randomize: mean=1.8ms, total=32.7ms, count=18, min=1.1ms, max=3.0ms
+  asset_install_objects: mean=11.7ms, total=11.7ms, count=1, min=11.7ms, max=11.7ms
+  mj_forward_sync: mean=480.8us, total=8.7ms, count=18, min=0.4ms, max=0.8ms
+  compile_robot_add: mean=8.6ms, total=8.6ms, count=1, min=8.6ms, max=8.6ms
+  asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  policy_setup: mean=18.1us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/15 00:43:23 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/15 00:43:23 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 9 episodes, total_time=3608.97s
+  Worker averages:
+  episode_total: mean=112.04s, total=2016.66s, count=18, min=2860.8ms, max=195250.2ms
+  sensor_polling: mean=403.8ms, total=1372.58s, count=3399, min=368.0ms, max=728.4ms
+  save_trajectories: mean=10.73s, total=85.87s, count=8, min=10475.6ms, max=11309.7ms
+  physics_step: mean=24.1ms, total=82.05s, count=3399, min=15.4ms, max=56.5ms
+  save_batch_prep: mean=3.19s, total=25.51s, count=8, min=2982.5ms, max=3731.8ms
+  task_sampling: mean=618.6ms, total=11.13s, count=18, min=337.1ms, max=3468.2ms
+  task_specific_sample: mean=449.1ms, total=8.08s, count=18, min=334.4ms, max=570.5ms
+  scene_load: mean=2.99s, total=2.99s, count=1, min=2990.9ms, max=2990.9ms
+  scene_env_create: mean=1.85s, total=1.85s, count=1, min=1853.6ms, max=1853.6ms
+  scene_compile: mean=967.2ms, total=967.2ms, count=1, min=967.2ms, max=967.2ms
+  compile_mujoco: mean=708.1ms, total=708.1ms, count=1, min=708.1ms, max=708.1ms
+  compile_xml_load: mean=187.5ms, total=187.5ms, count=1, min=187.5ms, max=187.5ms
+  scene_init: mean=115.6ms, total=115.6ms, count=1, min=115.6ms, max=115.6ms
+  scene_asset_install: mean=54.1ms, total=54.1ms, count=1, min=54.1ms, max=54.1ms
+  compile_aux_objects: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms
+  compile_aux_policy_objects: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms
+  asset_install_grasps: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
+  scene_randomize: mean=1.8ms, total=32.7ms, count=18, min=1.1ms, max=3.0ms
+  asset_install_objects: mean=11.7ms, total=11.7ms, count=1, min=11.7ms, max=11.7ms
+  mj_forward_sync: mean=480.8us, total=8.7ms, count=18, min=0.4ms, max=0.8ms
+  compile_robot_add: mean=8.6ms, total=8.6ms, count=1, min=8.6ms, max=8.6ms
+  asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  policy_setup: mean=18.1us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/15 00:43:25 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/15 00:43:25 INFO: Success count: 8, Total count: 9	[pipeline.py: 1491]
+05/15 00:43:25 INFO: Success rate: 88.89%	[pipeline.py: 1492]
+05/15 00:44:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:44:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:44:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:44:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:44:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:44:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:44:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:44:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 00:44:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 00:44:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 00:44:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 00:44:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 00:44:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 00:44:19 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.647s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 00:44:19 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.562[deg]	[grasp_sample.py: 539]
+05/15 00:44:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 00:44:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 00:44:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:44:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 00:44:31 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 00:44:52 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[pipeline.py: 1174]
+05/15 00:44:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_105 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 00:44:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 00:45:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 00:45:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_105	[save_utils.py: 785]
+05/15 00:45:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_105 in 13.58s (batch: 3.08s, save: 10.50s)	[pipeline.py: 300]
+05/15 00:45:06 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.34s:
+  episode_total: mean=183.42s, total=183.42s, count=1, min=183424.4ms, max=183424.4ms
+  sensor_polling: mean=414.0ms, total=124.19s, count=300, min=396.5ms, max=733.2ms
+  save_trajectories: mean=10.50s, total=10.50s, count=1, min=10500.8ms, max=10500.8ms
+  physics_step: mean=23.4ms, total=7.02s, count=300, min=16.9ms, max=33.7ms
+  save_batch_prep: mean=3.08s, total=3.08s, count=1, min=3083.9ms, max=3083.9ms
+  task_sampling: mean=344.6ms, total=344.6ms, count=1, min=344.6ms, max=344.6ms
+  task_specific_sample: mean=340.5ms, total=340.5ms, count=1, min=340.5ms, max=340.5ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=451.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 00:45:07 WARNING: [Worker 0] No trajectory data to save for chunk_105	[pipeline.py: 234]
+05/15 00:45:07 WARNING: [Worker 0] No trajectory data to save for chunk_105	[pipeline.py: 234]
+05/15 00:45:07 INFO: [Worker 0] Worker 0 completed house 1: 10/10 successful episodes	[pipeline.py: 1323]
+05/15 00:45:07 INFO: [Worker 0] [PROFILE] House 1 complete: 10/10 successful, 10 episodes, total_time=3847.23s
+  House averages:
+  episode_total: mean=118.02s, total=2124.36s, count=18, min=168.4ms, max=207728.1ms
+  sensor_polling: mean=426.6ms, total=1469.95s, count=3446, min=381.8ms, max=755.4ms
+  save_trajectories: mean=10.93s, total=109.29s, count=10, min=10044.9ms, max=12193.1ms
+  physics_step: mean=24.8ms, total=85.38s, count=3446, min=16.0ms, max=65.5ms
+  save_batch_prep: mean=3.22s, total=32.23s, count=10, min=3065.8ms, max=3479.3ms
+  task_sampling: mean=623.4ms, total=10.60s, count=17, min=322.6ms, max=3739.6ms
+  task_specific_sample: mean=412.4ms, total=7.42s, count=18, min=162.7ms, max=573.7ms
+  scene_load: mean=3.27s, total=3.27s, count=1, min=3274.0ms, max=3274.0ms
+  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1962.6ms, max=1962.6ms
+  scene_compile: mean=1.13s, total=1.13s, count=1, min=1125.4ms, max=1125.4ms
+  compile_mujoco: mean=626.1ms, total=626.1ms, count=1, min=626.1ms, max=626.1ms
+  compile_xml_load: mean=417.1ms, total=417.1ms, count=1, min=417.1ms, max=417.1ms
+  task_sampling_failed: mean=168.3ms, total=168.3ms, count=1, min=168.3ms, max=168.3ms
+  scene_init: mean=121.9ms, total=121.9ms, count=1, min=121.9ms, max=121.9ms
+  scene_asset_install: mean=64.0ms, total=64.0ms, count=1, min=64.0ms, max=64.0ms
+  compile_aux_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms
+  compile_aux_policy_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms
+  asset_install_grasps: mean=47.7ms, total=47.7ms, count=1, min=47.7ms, max=47.7ms
+  scene_randomize: mean=2.1ms, total=37.3ms, count=18, min=1.1ms, max=3.5ms
+  compile_robot_add: mean=19.6ms, total=19.6ms, count=1, min=19.6ms, max=19.6ms
+  asset_install_objects: mean=11.7ms, total=11.7ms, count=1, min=11.7ms, max=11.7ms
+  mj_forward_sync: mean=506.9us, total=9.1ms, count=18, min=0.4ms, max=0.8ms
+  asset_install_scene: mean=4.6ms, total=4.6ms, count=1, min=4.6ms, max=4.6ms
+  policy_setup: mean=19.1us, total=0.3ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/15 00:45:07 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/15 00:45:07 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=3847.23s
+  Worker averages:
+  episode_total: mean=118.02s, total=2124.36s, count=18, min=168.4ms, max=207728.1ms
+  sensor_polling: mean=426.6ms, total=1469.95s, count=3446, min=381.8ms, max=755.4ms
+  save_trajectories: mean=10.93s, total=109.29s, count=10, min=10044.9ms, max=12193.1ms
+  physics_step: mean=24.8ms, total=85.38s, count=3446, min=16.0ms, max=65.5ms
+  save_batch_prep: mean=3.22s, total=32.23s, count=10, min=3065.8ms, max=3479.3ms
+  task_sampling: mean=623.4ms, total=10.60s, count=17, min=322.6ms, max=3739.6ms
+  task_specific_sample: mean=412.4ms, total=7.42s, count=18, min=162.7ms, max=573.7ms
+  scene_load: mean=3.27s, total=3.27s, count=1, min=3274.0ms, max=3274.0ms
+  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1962.6ms, max=1962.6ms
+  scene_compile: mean=1.13s, total=1.13s, count=1, min=1125.4ms, max=1125.4ms
+  compile_mujoco: mean=626.1ms, total=626.1ms, count=1, min=626.1ms, max=626.1ms
+  compile_xml_load: mean=417.1ms, total=417.1ms, count=1, min=417.1ms, max=417.1ms
+  task_sampling_failed: mean=168.3ms, total=168.3ms, count=1, min=168.3ms, max=168.3ms
+  scene_init: mean=121.9ms, total=121.9ms, count=1, min=121.9ms, max=121.9ms
+  scene_asset_install: mean=64.0ms, total=64.0ms, count=1, min=64.0ms, max=64.0ms
+  compile_aux_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms
+  compile_aux_policy_objects: mean=53.8ms, total=53.8ms, count=1, min=53.8ms, max=53.8ms
+  asset_install_grasps: mean=47.7ms, total=47.7ms, count=1, min=47.7ms, max=47.7ms
+  scene_randomize: mean=2.1ms, total=37.3ms, count=18, min=1.1ms, max=3.5ms
+  compile_robot_add: mean=19.6ms, total=19.6ms, count=1, min=19.6ms, max=19.6ms
+  asset_install_objects: mean=11.7ms, total=11.7ms, count=1, min=11.7ms, max=11.7ms
+  mj_forward_sync: mean=506.9us, total=9.1ms, count=18, min=0.4ms, max=0.8ms
+  asset_install_scene: mean=4.6ms, total=4.6ms, count=1, min=4.6ms, max=4.6ms
+  policy_setup: mean=19.1us, total=0.3ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/15 00:45:10 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/15 00:45:10 INFO: Success count: 10, Total count: 10	[pipeline.py: 1491]
+05/15 00:45:10 INFO: Success rate: 100.00%	[pipeline.py: 1492]
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