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+05/15 04:04:54 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/15 04:04:54 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 04:04:54 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/15 04:04:54 INFO: {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
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+                                                      -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_111'),
+ '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 0x7d6e0c045710>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
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+                                  1060.4599870990814,
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+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
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+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 41101,
+ '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,
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+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/15 04:04:54 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 04:04:54 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/15 04:04:54 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/15 04:04:54 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/15 04:04:57 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 04:04:57 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/15 04:04:57 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/15 04:04:57 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/15 04:04:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:04:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:04:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:04:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:04:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:04:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:04:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:04:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 04:04:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:04:57 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 04:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055563m	[env.py: 870]
+05/15 04:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:04:57 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 04:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.03957214 -0.9711973   0.05556324] yaw=150.6deg	[env.py: 1019]
+05/15 04:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.23922777 -0.28230497  0.05556324] yaw=-127.5deg	[env.py: 1019]
+05/15 04:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.08213526 -0.32273732  0.05556324] yaw=-147.8deg	[env.py: 1019]
+05/15 04:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:04:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=21.0ms, retries=88.3ms, total=109.3ms	[env.py: 1075]
+05/15 04:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.040, -0.971, 0.056)	[env.py: 1079]
+05/15 04:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.6 deg	[env.py: 1082]
+05/15 04:04:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.125m	[env.py: 1086]
+05/15 04:04:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:04:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:04:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:04:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:04:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:04:57 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:04:58 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/15 04:04:58 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 04:04:58 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/15 04:04:58 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_111'),
+ '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 0x7a3040233390>,
+ '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': 41103,
+ '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 04:04:58 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 04:04:58 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/15 04:04:58 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/15 04:04:58 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/15 04:04:58 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/15 04:04:58 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 04:04:58 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/15 04:04:58 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_111'),
+ '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 0x7876a7547d50>,
+ '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': 41104,
+ '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 04:04:58 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 04:04:58 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/15 04:04:58 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/15 04:04:59 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/15 04:04:59 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/15 04:04:59 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 04:04:59 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/15 04:04:59 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_111'),
+ '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 0x779e094558d0>,
+ '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': 41102,
+ '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 04:04:59 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 04:04:59 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/15 04:04:59 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/15 04:04:59 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/15 04:05:00 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 04:05:00 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/15 04:05:00 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/15 04:05:00 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/15 04:05:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:05:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:05:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:05:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:05:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:05:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:05:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:05:00 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 04:05:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:05:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075628m	[env.py: 870]
+05/15 04:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:05:00 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 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -175.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.0538434  -0.66005513  0.07562817] yaw=-166.8deg	[env.py: 1019]
+05/15 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.0510194  -0.61299472  0.07562817] yaw=-151.2deg	[env.py: 1019]
+05/15 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.6054179  -0.14293549  0.07562817] yaw=-134.4deg	[env.py: 1019]
+05/15 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:05:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=23.5ms, retries=231.9ms, total=255.4ms	[env.py: 1075]
+05/15 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.054, -0.660, 0.076)	[env.py: 1079]
+05/15 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.8 deg	[env.py: 1082]
+05/15 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m	[env.py: 1086]
+05/15 04:05:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:05:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:05:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:05:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:05:01 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 04:05:01 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/15 04:05:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:05:01 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:05:01 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/15 04:05:01 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/15 04:05:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:05:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:05:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:05:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:05:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:05:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:05:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:05:01 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 04:05:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:05:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.063m, effective arm-mount z=0.797m (base_body_z=-0.063m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.063329m	[env.py: 870]
+05/15 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:05:01 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 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18724 free points within sampling radius	[env.py: 907]
+05/15 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.05252475 -1.13478484 -0.06332851] yaw=188.5deg	[env.py: 1019]
+05/15 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.04645715 -0.67221375 -0.06332851] yaw=-191.7deg	[env.py: 1019]
+05/15 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:05:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=20.9ms, retries=167.5ms, total=188.5ms	[env.py: 1075]
+05/15 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.053, -1.135, -0.063)	[env.py: 1079]
+05/15 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 188.5 deg	[env.py: 1082]
+05/15 04:05:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.171m	[env.py: 1086]
+05/15 04:05:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:05:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:05:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:05:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:05:01 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 04:05:01 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/15 04:05:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:05:02 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:05:02 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/15 04:05:02 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/15 04:05:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:05:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:05:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:05:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:05:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:05:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 04:05:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:05:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054033m	[env.py: 870]
+05/15 04:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:05:02 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 04:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.03646522 -0.75357748  0.05403266] yaw=-195.4deg	[env.py: 1019]
+05/15 04:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.28690301 -1.08349901  0.05403266] yaw=163.2deg	[env.py: 1019]
+05/15 04:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.09447318 -0.47665978  0.05403266] yaw=-176.8deg	[env.py: 1019]
+05/15 04:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:05:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=20.8ms, retries=69.3ms, total=90.1ms	[env.py: 1075]
+05/15 04:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.036, -0.754, 0.054)	[env.py: 1079]
+05/15 04:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -195.4 deg	[env.py: 1082]
+05/15 04:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.113m	[env.py: 1086]
+05/15 04:05:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:05:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:05:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:05:02 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:05:32 INFO: [Worker 0] Warmed up parallel IK solver in 34.311s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:05:32 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 04:05:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:05:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:05:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.572s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 04:05:34 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 04:05:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:05:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:05:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:05:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:05:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:05:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:05:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:05:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:05:36 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 04:05:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:05:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.001m, effective arm-mount z=0.859m (base_body_z=-0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.000532m	[env.py: 870]
+05/15 04:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:05:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.46855244e-01 -9.09268652e-01 -5.31715090e-04] yaw=179.1deg	[env.py: 1019]
+05/15 04:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.06307221 -0.39942379 -0.00053172] yaw=-184.7deg	[env.py: 1019]
+05/15 04:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.06561989 -0.43623332 -0.00053172] yaw=-148.8deg	[env.py: 1019]
+05/15 04:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:05:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=94.4ms, total=94.5ms	[env.py: 1075]
+05/15 04:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.147, -0.909, -0.001)	[env.py: 1079]
+05/15 04:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.1 deg	[env.py: 1082]
+05/15 04:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m	[env.py: 1086]
+05/15 04:05:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:05:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:05:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:05:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:05:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:05:36 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:05:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:05:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 04:05:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:05:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:05:36 INFO: [Worker 0] Warmed up parallel IK solver in 35.263s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:05:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 04:05:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:05:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:05:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.713s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:05:37 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.462[m] 64.319[deg]	[grasp_sample.py: 539]
+05/15 04:05:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:05:37 INFO: [Worker 0] Warmed up parallel IK solver in 35.637s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:05:37 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 04:05:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:05:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.849s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:05:37 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.500[m] 88.812[deg]	[grasp_sample.py: 539]
+05/15 04:05:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:05:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:05:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:05:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:05:38 INFO: [Worker 0] Warmed up parallel IK solver in 35.697s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:05:38 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 04:05:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:05:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:05:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:05:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:05:38 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 04:05:38 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 04:05:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.175s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 04:05:39 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 04:05:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.541s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:05:40 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.863[m] 93.912[deg]	[grasp_sample.py: 539]
+05/15 04:05:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:05:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:05:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:05:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:05:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 04:05:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:05:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:05:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:05:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:05:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:05:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:05:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:05:41 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 04:05:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:05:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.061m, effective arm-mount z=0.799m (base_body_z=-0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.060774m	[env.py: 870]
+05/15 04:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:05:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18724 free points within sampling radius	[env.py: 907]
+05/15 04:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -170.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.30954157 -0.35988446 -0.06077357] yaw=-134.4deg	[env.py: 1019]
+05/15 04:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.15937069 -0.82218156 -0.06077357] yaw=160.9deg	[env.py: 1019]
+05/15 04:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.07057516 -0.25683879 -0.06077357] yaw=-153.2deg	[env.py: 1019]
+05/15 04:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:05:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=152.8ms, total=152.8ms	[env.py: 1075]
+05/15 04:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.310, -0.360, -0.061)	[env.py: 1079]
+05/15 04:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.4 deg	[env.py: 1082]
+05/15 04:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m	[env.py: 1086]
+05/15 04:05:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:05:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:05:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:05:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:05:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:05:41 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:05:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:05:42 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 04:05:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:05:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:05:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.852s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:05:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.505[m] 110.128[deg]	[grasp_sample.py: 539]
+05/15 04:05:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:05:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:05:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:05:43 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 04:06:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:06:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:06:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:06:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:06:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:06:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:06:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:06:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:06:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:06:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:06:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:06:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:06:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:06:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:06:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 04:06:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 04:06:33 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 04:06:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:06:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:06:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.825s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:06:35 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.075[m] 5.597[deg]	[grasp_sample.py: 539]
+05/15 04:06:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:06:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:06:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:06:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:06:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:06:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:06:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:06:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:06:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:06:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:06:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:06:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:06:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:07:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:07:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:07:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 04:07:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 04:07:03 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 04:07:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:07:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:07:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 15.673s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:07:18 INFO: [Worker 0] Feasible grasp found 13 (originally 13): w/ 0.140[m] 26.962[deg]	[grasp_sample.py: 539]
+05/15 04:07:20 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 04:07:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:07:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:07:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:07:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:07:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:07:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:07:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:07:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:07:22 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 04:07:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:07:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045555m	[env.py: 870]
+05/15 04:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:07:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.13698054 -1.12438682  0.04555496] yaw=136.3deg	[env.py: 1019]
+05/15 04:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 128.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:07:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=186.8ms, total=186.8ms	[env.py: 1075]
+05/15 04:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.137, -1.124, 0.046)	[env.py: 1079]
+05/15 04:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 136.3 deg	[env.py: 1082]
+05/15 04:07:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m	[env.py: 1086]
+05/15 04:07:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:07:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:07:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:07:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:07:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:07:22 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:07:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:07:22 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 04:07:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:07:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:07:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.835s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:07:23 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.583[m] 89.981[deg]	[grasp_sample.py: 539]
+05/15 04:07:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:07:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:07:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:07:24 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 04:07:53 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 04:08:06 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 04:08:10 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 04:08:13 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[pipeline.py: 1174]
+05/15 04:08:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 04:08:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 04:08:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:08:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:08:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:08:27 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[pipeline.py: 1174]
+05/15 04:08:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/15 04:08:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 04:08:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:08:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[save_utils.py: 785]
+05/15 04:08:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 14.62s (batch: 2.94s, save: 11.67s)	[pipeline.py: 300]
+05/15 04:08:28 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=3.65s:
+  episode_total: mean=104.07s, total=208.14s, count=2, min=41140.7ms, max=167001.4ms
+  sensor_polling: mean=399.6ms, total=119.89s, count=300, min=370.3ms, max=568.4ms
+  save_trajectories: mean=11.67s, total=11.67s, count=1, min=11673.8ms, max=11673.8ms
+  physics_step: mean=25.0ms, total=7.49s, count=300, min=17.5ms, max=32.6ms
+  task_sampling: mean=1.83s, total=3.65s, count=2, min=420.2ms, max=3233.8ms
+  save_batch_prep: mean=2.94s, total=2.94s, count=1, min=2941.6ms, max=2941.6ms
+  scene_load: mean=2.79s, total=2.79s, count=1, min=2786.8ms, max=2786.8ms
+  scene_env_create: mean=1.66s, total=1.66s, count=1, min=1659.3ms, max=1659.3ms
+  scene_compile: mean=960.4ms, total=960.4ms, count=1, min=960.4ms, max=960.4ms
+  task_specific_sample: mean=430.8ms, total=861.6ms, count=2, min=417.1ms, max=444.5ms
+  compile_mujoco: mean=699.1ms, total=699.1ms, count=1, min=699.1ms, max=699.1ms
+  compile_xml_load: mean=187.4ms, total=187.4ms, count=1, min=187.4ms, max=187.4ms
+  scene_init: mean=116.9ms, total=116.9ms, count=1, min=116.9ms, max=116.9ms
+  compile_aux_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms
+  compile_aux_policy_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms
+  scene_asset_install: mean=49.9ms, total=49.9ms, count=1, min=49.9ms, max=49.9ms
+  asset_install_grasps: mean=36.0ms, total=36.0ms, count=1, min=36.0ms, max=36.0ms
+  asset_install_objects: mean=11.1ms, total=11.1ms, count=1, min=11.1ms, max=11.1ms
+  compile_robot_add: mean=8.0ms, total=8.0ms, count=1, min=8.0ms, max=8.0ms
+  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  scene_randomize: mean=1.3ms, total=2.7ms, count=2, min=1.1ms, max=1.6ms
+  mj_forward_sync: mean=520.3us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=18.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 04:08:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:08:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:08:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:08:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:08:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:08:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:08:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:08:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:08:29 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 04:08:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:08:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.089m, effective arm-mount z=0.771m (base_body_z=-0.089m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.088884m	[env.py: 870]
+05/15 04:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:08:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18724 free points within sampling radius	[env.py: 907]
+05/15 04:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 139.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.19554517 -0.7705181  -0.0888842 ] yaw=-170.8deg	[env.py: 1019]
+05/15 04:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 174.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:08:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=213.9ms, total=214.0ms	[env.py: 1075]
+05/15 04:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.196, -0.771, -0.089)	[env.py: 1079]
+05/15 04:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.8 deg	[env.py: 1082]
+05/15 04:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.880m	[env.py: 1086]
+05/15 04:08:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:08:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:08:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:08:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:08:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:08:30 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:08:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:08:30 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 04:08:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:08:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:08:31 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[pipeline.py: 1174]
+05/15 04:08:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 04:08:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 04:08:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.632s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:08:31 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.487[m] 90.845[deg]	[grasp_sample.py: 539]
+05/15 04:08:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:08:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:08:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:08:32 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 04:08:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:08:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[save_utils.py: 785]
+05/15 04:08:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 13.57s (batch: 3.25s, save: 10.32s)	[pipeline.py: 300]
+05/15 04:08:41 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.31s:
+  episode_total: mean=223.29s, total=223.29s, count=1, min=223285.8ms, max=223285.8ms
+  sensor_polling: mean=402.0ms, total=120.61s, count=300, min=376.1ms, max=591.4ms
+  save_trajectories: mean=10.32s, total=10.32s, count=1, min=10319.9ms, max=10319.9ms
+  physics_step: mean=24.3ms, total=7.30s, count=300, min=21.3ms, max=37.0ms
+  task_sampling: mean=3.31s, total=3.31s, count=1, min=3306.6ms, max=3306.6ms
+  save_batch_prep: mean=3.25s, total=3.25s, count=1, min=3248.4ms, max=3248.4ms
+  scene_load: mean=2.78s, total=2.78s, count=1, min=2775.1ms, max=2775.1ms
+  scene_env_create: mean=1.70s, total=1.70s, count=1, min=1696.5ms, max=1696.5ms
+  scene_compile: mean=905.2ms, total=905.2ms, count=1, min=905.2ms, max=905.2ms
+  compile_mujoco: mean=639.1ms, total=639.1ms, count=1, min=639.1ms, max=639.1ms
+  task_specific_sample: mean=528.9ms, total=528.9ms, count=1, min=528.9ms, max=528.9ms
+  compile_xml_load: mean=193.1ms, total=193.1ms, count=1, min=193.1ms, max=193.1ms
+  scene_init: mean=118.8ms, total=118.8ms, count=1, min=118.8ms, max=118.8ms
+  scene_asset_install: mean=54.3ms, total=54.3ms, count=1, min=54.3ms, max=54.3ms
+  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=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
+  asset_install_objects: mean=12.3ms, total=12.3ms, count=1, min=12.3ms, max=12.3ms
+  compile_robot_add: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
+  asset_install_scene: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms
+  scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
+  mj_forward_sync: mean=456.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 04:08:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:08:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:08:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:08:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:08:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:08:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:08:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:08:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:08:42 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 04:08:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:08:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.074m, effective arm-mount z=0.786m (base_body_z=-0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.074257m	[env.py: 870]
+05/15 04:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:08:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.03053242 -0.77077114 -0.07425693] yaw=-164.5deg	[env.py: 1019]
+05/15 04:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.00564337 -0.74013583 -0.07425693] yaw=-148.4deg	[env.py: 1019]
+05/15 04:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:08:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.27705843 -0.0632316  -0.07425693] yaw=-140.6deg	[env.py: 1019]
+05/15 04:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:08:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.7ms, total=132.8ms	[env.py: 1075]
+05/15 04:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.031, -0.771, -0.074)	[env.py: 1079]
+05/15 04:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.5 deg	[env.py: 1082]
+05/15 04:08:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m	[env.py: 1086]
+05/15 04:08:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:08:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:08:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:08:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:08:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:08:43 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:08:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:08:43 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 04:08:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:08:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:08:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:08:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[save_utils.py: 785]
+05/15 04:08:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 13.44s (batch: 2.92s, save: 10.52s)	[pipeline.py: 300]
+05/15 04:08:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.233s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:08:44 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.671[m] 62.963[deg]	[grasp_sample.py: 539]
+05/15 04:08:45 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=3.78s:
+  episode_total: mean=114.69s, total=229.39s, count=2, min=40390.6ms, max=188995.3ms
+  sensor_polling: mean=431.2ms, total=129.37s, count=300, min=403.9ms, max=630.1ms
+  save_trajectories: mean=10.52s, total=10.52s, count=1, min=10515.2ms, max=10515.2ms
+  physics_step: mean=24.8ms, total=7.43s, count=300, min=21.6ms, max=35.6ms
+  task_sampling: mean=1.89s, total=3.78s, count=2, min=357.3ms, max=3417.8ms
+  scene_load: mean=3.05s, total=3.05s, count=1, min=3045.9ms, max=3045.9ms
+  save_batch_prep: mean=2.92s, total=2.92s, count=1, min=2921.4ms, max=2921.4ms
+  scene_env_create: mean=1.76s, total=1.76s, count=1, min=1755.9ms, max=1755.9ms
+  scene_compile: mean=1.12s, total=1.12s, count=1, min=1120.4ms, max=1120.4ms
+  task_specific_sample: mean=361.5ms, total=723.1ms, count=2, min=354.0ms, max=369.1ms
+  compile_mujoco: mean=640.4ms, total=640.4ms, count=1, min=640.4ms, max=640.4ms
+  compile_xml_load: mean=399.2ms, total=399.2ms, count=1, min=399.2ms, max=399.2ms
+  scene_init: mean=116.2ms, total=116.2ms, count=1, min=116.2ms, max=116.2ms
+  compile_aux_objects: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms
+  compile_aux_policy_objects: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms
+  scene_asset_install: mean=53.2ms, total=53.2ms, count=1, min=53.2ms, max=53.2ms
+  asset_install_grasps: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms
+  compile_robot_add: mean=18.0ms, total=18.0ms, count=1, min=18.0ms, max=18.0ms
+  asset_install_objects: mean=10.8ms, total=10.8ms, count=1, min=10.8ms, max=10.8ms
+  asset_install_scene: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms
+  scene_randomize: mean=1.4ms, total=2.9ms, count=2, min=1.1ms, max=1.8ms
+  mj_forward_sync: mean=564.7us, total=1.1ms, count=2, min=0.4ms, max=0.7ms
+  policy_setup: mean=18.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 04:08:45 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 04:08:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:08:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:08:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:08:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:08:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:08:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:08:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:08:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:08:46 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 04:08:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:08:46 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 04:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.007581m	[env.py: 870]
+05/15 04:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:08:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.08961272 -1.20064449 -0.00758145] yaw=139.6deg	[env.py: 1019]
+05/15 04:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.35603427 -0.00244852 -0.00758145] yaw=-138.4deg	[env.py: 1019]
+05/15 04:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.4504818  -0.29732168 -0.00758145] yaw=-151.1deg	[env.py: 1019]
+05/15 04:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:08:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=120.4ms, total=120.5ms	[env.py: 1075]
+05/15 04:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.090, -1.201, -0.008)	[env.py: 1079]
+05/15 04:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 139.6 deg	[env.py: 1082]
+05/15 04:08:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m	[env.py: 1086]
+05/15 04:08:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:08:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:08:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:08:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:08:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:08:46 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:08:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:08:46 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 04:08:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:08:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:08:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:08:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:08:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:08:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:08:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:08:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:08:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:08:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:08:47 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 04:08:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:08:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086816m	[env.py: 870]
+05/15 04:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:08:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.32111515 -1.22160146  0.08681641] yaw=171.5deg	[env.py: 1019]
+05/15 04:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.34234292 -0.00574542  0.08681641] yaw=-120.2deg	[env.py: 1019]
+05/15 04:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:08:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=196.8ms, total=196.9ms	[env.py: 1075]
+05/15 04:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.321, -1.222, 0.087)	[env.py: 1079]
+05/15 04:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.5 deg	[env.py: 1082]
+05/15 04:08:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m	[env.py: 1086]
+05/15 04:08:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:08:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:08:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:08:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:08:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:08:47 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:08:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:08:48 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 04:08:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:08:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:08:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.752s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:08:48 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.582[m] 134.919[deg]	[grasp_sample.py: 539]
+05/15 04:08:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:08:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.237s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:08:49 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.789[m] 125.852[deg]	[grasp_sample.py: 539]
+05/15 04:08:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:08:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:08:49 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 04:08:50 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 04:08:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:08:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:08:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:08:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:08:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:08:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:08:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:08:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:08:52 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 04:08:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:08:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.099m, effective arm-mount z=0.761m (base_body_z=-0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.099259m	[env.py: 870]
+05/15 04:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:08:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.02862539 -1.04606168 -0.09925882] yaw=190.9deg	[env.py: 1019]
+05/15 04:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.27070371 -0.39945777 -0.09925882] yaw=-126.3deg	[env.py: 1019]
+05/15 04:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 110.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 150.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.14940031 -0.70711125 -0.09925882] yaw=-198.7deg	[env.py: 1019]
+05/15 04:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:08:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=108.6ms, total=108.7ms	[env.py: 1075]
+05/15 04:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.029, -1.046, -0.099)	[env.py: 1079]
+05/15 04:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 190.9 deg	[env.py: 1082]
+05/15 04:08:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m	[env.py: 1086]
+05/15 04:08:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:08:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:08:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:08:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:08:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:08:52 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:08:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:08:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 04:08:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:08:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:08:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.592s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:08:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.664[m] 85.638[deg]	[grasp_sample.py: 539]
+05/15 04:08:56 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 04:08:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:08:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:08:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:08:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:08:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:08:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:08:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 04:08:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:08:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045424m	[env.py: 870]
+05/15 04:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:08:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.11727602 -0.73673779  0.04542386] yaw=-157.1deg	[env.py: 1019]
+05/15 04:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.16864366 -0.7928967   0.04542386] yaw=-187.1deg	[env.py: 1019]
+05/15 04:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.43997611 -0.23369237  0.04542386] yaw=-160.1deg	[env.py: 1019]
+05/15 04:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:08:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.7ms, total=122.7ms	[env.py: 1075]
+05/15 04:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.117, -0.737, 0.045)	[env.py: 1079]
+05/15 04:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.1 deg	[env.py: 1082]
+05/15 04:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.194m	[env.py: 1086]
+05/15 04:08:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:08:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:08:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:08:58 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:08:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:08:58 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 04:08:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:08:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:08:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:09:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.275s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 04:09:00 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 04:09:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:09:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:09:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:09:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:09:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:09:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:09:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:09:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:09:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:09:01 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 04:09:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:09:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077338m	[env.py: 870]
+05/15 04:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:09:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.24445161 -0.76325999  0.07733774] yaw=-179.9deg	[env.py: 1019]
+05/15 04:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.25020156 -0.46392615  0.07733774] yaw=-170.7deg	[env.py: 1019]
+05/15 04:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:09:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=184.8ms, total=184.9ms	[env.py: 1075]
+05/15 04:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.244, -0.763, 0.077)	[env.py: 1079]
+05/15 04:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.9 deg	[env.py: 1082]
+05/15 04:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m	[env.py: 1086]
+05/15 04:09:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:09:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:09:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:09:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:09:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:09:02 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:09:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:09:02 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 04:09:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:09:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:09:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.833s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:09:03 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.612[m] 140.352[deg]	[grasp_sample.py: 539]
+05/15 04:09:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:09:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:09:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:09:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:09:04 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 04:09:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:09:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:09:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:09:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:09:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:09:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 04:09:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 04:09:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 04:09:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:09:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:09:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:09:12 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.638s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:09:12 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.031[m] 0.294[deg]	[grasp_sample.py: 539]
+05/15 04:09:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:09:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:09:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:09:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:09:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:09:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:09:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:09:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:09:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:09:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:09:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:09:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:09:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:09:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:09:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:09:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:09:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 04:09:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 04:09:43 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 04:09:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:09:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:09:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:09:45 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.846s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:09:45 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.028[m] 3.884[deg]	[grasp_sample.py: 539]
+05/15 04:09:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:09:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:09:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:09:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:09:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:09:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:09:57 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 04:09:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:10:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:10:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:10:17 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/debug/chunk_111	[pipeline.py: 1174]
+05/15 04:10:17 INFO: [Worker 0] Queueing failed trajectory for debug (seed: 41102)	[pipeline.py: 1213]
+05/15 04:10:17 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=False episode_total=3.56s:
+  episode_total: mean=158.26s, total=316.52s, count=2, min=141073.0ms, max=175442.0ms
+  sensor_polling: mean=407.5ms, total=185.82s, count=456, min=371.7ms, max=632.7ms
+  physics_step: mean=23.7ms, total=10.79s, count=456, min=16.7ms, max=33.7ms
+  task_sampling: mean=1.78s, total=3.56s, count=2, min=465.5ms, max=3094.5ms
+  scene_load: mean=2.74s, total=2.74s, count=1, min=2742.7ms, max=2742.7ms
+  scene_env_create: mean=1.69s, total=1.69s, count=1, min=1687.7ms, max=1687.7ms
+  scene_compile: mean=880.4ms, total=880.4ms, count=1, min=880.4ms, max=880.4ms
+  task_specific_sample: mean=405.2ms, total=810.5ms, count=2, min=349.1ms, max=461.3ms
+  compile_mujoco: mean=624.2ms, total=624.2ms, count=1, min=624.2ms, max=624.2ms
+  compile_xml_load: mean=185.8ms, total=185.8ms, count=1, min=185.8ms, max=185.8ms
+  scene_init: mean=117.1ms, total=117.1ms, count=1, min=117.1ms, max=117.1ms
+  scene_asset_install: mean=57.3ms, total=57.3ms, count=1, min=57.3ms, max=57.3ms
+  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=38.8ms, total=38.8ms, count=1, min=38.8ms, max=38.8ms
+  asset_install_objects: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms
+  compile_robot_add: mean=7.8ms, total=7.8ms, count=1, min=7.8ms, max=7.8ms
+  asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms
+  scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.1ms, max=2.6ms
+  mj_forward_sync: mean=527.7us, total=1.1ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=20.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 04:10:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:10:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:10:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:10:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:10:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:10:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:10:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 04:10:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:10:19 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 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.035644m	[env.py: 870]
+05/15 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:10:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.09783157 -1.20895118 -0.03564382] yaw=152.7deg	[env.py: 1019]
+05/15 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 155.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.30845845 -0.56686061 -0.03564382] yaw=-147.4deg	[env.py: 1019]
+05/15 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.18296183 -1.11539643 -0.03564382] yaw=150.6deg	[env.py: 1019]
+05/15 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:10:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=95.5ms, total=95.6ms	[env.py: 1075]
+05/15 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.098, -1.209, -0.036)	[env.py: 1079]
+05/15 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.7 deg	[env.py: 1082]
+05/15 04:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m	[env.py: 1086]
+05/15 04:10:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:10:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:10:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:10:19 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:10:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:10:19 INFO: [Worker 0] Loading grasps 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 04:10:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:10:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:10:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:10:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.301s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:10:21 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.710[m] 104.491[deg]	[grasp_sample.py: 539]
+05/15 04:10:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:10:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:10:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:10:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 04:10:46 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 04:10:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:10:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:10:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:10:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:10:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:10:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:10:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:10:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:10:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:11:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:11:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:11:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:11:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:11:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:11:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:11:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 04:11:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 04:11:04 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 04:11:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:11:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:11:04 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.649s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:11:04 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.615[deg]	[grasp_sample.py: 539]
+05/15 04:11:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:11:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 04:11:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 04:11:05 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 04:11:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:11:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:11:05 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.521s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:11:05 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.278[deg]	[grasp_sample.py: 539]
+05/15 04:11:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:11:05 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[pipeline.py: 1174]
+05/15 04:11:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 04:11:05 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 04:11:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:11:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:11:06 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 04:11:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:11:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:11:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:11:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:11:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:11:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:11:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:11:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:11:07 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 04:11:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:11:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.022m, effective arm-mount z=0.838m (base_body_z=-0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.021622m	[env.py: 870]
+05/15 04:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:11:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.15654067 -0.51488998 -0.02162232] yaw=-146.1deg	[env.py: 1019]
+05/15 04:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.18217704 -1.24828862 -0.02162232] yaw=139.7deg	[env.py: 1019]
+05/15 04:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.33814543 -1.20934251 -0.02162232] yaw=160.9deg	[env.py: 1019]
+05/15 04:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:11:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=111.7ms, total=111.8ms	[env.py: 1075]
+05/15 04:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.157, -0.515, -0.022)	[env.py: 1079]
+05/15 04:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.1 deg	[env.py: 1082]
+05/15 04:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m	[env.py: 1086]
+05/15 04:11:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:11:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:11:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:11:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:11:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:11:08 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:11:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:11:08 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 04:11:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:11:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:11:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.151s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:11:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.686[m] 68.848[deg]	[grasp_sample.py: 539]
+05/15 04:11:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:11:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:11:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:11:10 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 04:11:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:11:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:11:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[save_utils.py: 785]
+05/15 04:11:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 13.59s (batch: 2.96s, save: 10.63s)	[pipeline.py: 300]
+05/15 04:11:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:11:20 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.49s:
+  episode_total: mean=170.03s, total=170.03s, count=1, min=170026.2ms, max=170026.2ms
+  sensor_polling: mean=413.7ms, total=124.12s, count=300, min=370.8ms, max=651.0ms
+  save_trajectories: mean=10.63s, total=10.63s, count=1, min=10625.8ms, max=10625.8ms
+  physics_step: mean=26.6ms, total=7.99s, count=300, min=16.8ms, max=35.6ms
+  save_batch_prep: mean=2.96s, total=2.96s, count=1, min=2963.6ms, max=2963.6ms
+  task_sampling: mean=494.0ms, total=494.0ms, count=1, min=494.0ms, max=494.0ms
+  task_specific_sample: mean=490.1ms, total=490.1ms, count=1, min=490.1ms, max=490.1ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=452.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.0us, 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 04:11:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:11:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:11:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:11:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:11:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:11:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:11:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:11:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:11:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 04:11:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:11:21 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 04:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.056569m	[env.py: 870]
+05/15 04:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:11:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18724 free points within sampling radius	[env.py: 907]
+05/15 04:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -82.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.56951935 -0.17978626 -0.05656897] yaw=-106.8deg	[env.py: 1019]
+05/15 04:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.50262573 -0.08351696 -0.05656897] yaw=-136.0deg	[env.py: 1019]
+05/15 04:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:11:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=166.6ms, total=166.7ms	[env.py: 1075]
+05/15 04:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.570, -0.180, -0.057)	[env.py: 1079]
+05/15 04:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -106.8 deg	[env.py: 1082]
+05/15 04:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.812m	[env.py: 1086]
+05/15 04:11:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:11:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:11:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:11:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:11:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:11:21 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:11:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:11:21 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 04:11:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:11:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:11:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:11:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.876s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:11:24 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.541[m] 85.374[deg]	[grasp_sample.py: 539]
+05/15 04:11:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:11:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:11:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:11:25 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 04:11:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:11:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:11:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:11:40 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 04:11:40 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=False episode_total=1.51s:
+  episode_total: mean=42.50s, total=170.01s, count=4, min=2767.0ms, max=158772.3ms
+  sensor_polling: mean=432.1ms, total=129.64s, count=300, min=358.1ms, max=665.1ms
+  physics_step: mean=25.0ms, total=7.51s, count=300, min=17.0ms, max=39.5ms
+  task_sampling: mean=376.9ms, total=1.51s, count=4, min=354.8ms, max=421.4ms
+  task_specific_sample: mean=373.8ms, total=1.50s, count=4, min=351.3ms, max=419.0ms
+  scene_randomize: mean=1.6ms, total=6.2ms, count=4, min=1.1ms, max=2.6ms
+  mj_forward_sync: mean=487.3us, total=1.9ms, count=4, min=0.4ms, max=0.6ms
+  policy_setup: mean=17.5us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 04:11:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:11:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:11:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:11:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:11:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:11:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:11:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:11:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:11:42 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 04:11:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:11:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035124m	[env.py: 870]
+05/15 04:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:11:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 111.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.22198924 -0.89349056  0.03512415] yaw=171.3deg	[env.py: 1019]
+05/15 04:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.47292475 -0.16444336  0.03512415] yaw=-126.9deg	[env.py: 1019]
+05/15 04:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 145.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.1757594  -0.5141137   0.03512415] yaw=-151.4deg	[env.py: 1019]
+05/15 04:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:11:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.5ms, total=202.6ms	[env.py: 1075]
+05/15 04:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.222, -0.893, 0.035)	[env.py: 1079]
+05/15 04:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.3 deg	[env.py: 1082]
+05/15 04:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m	[env.py: 1086]
+05/15 04:11:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:11:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:11:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:11:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:11:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:11:42 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:11:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:11:42 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 04:11:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:11:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:11:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.611s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:11:43 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.383[m] 87.472[deg]	[grasp_sample.py: 539]
+05/15 04:11:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:11:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:11:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:11:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 04:12:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:12:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:12:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:12:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:12:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:12:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:12:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:12:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:12:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:12:34 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 04:12:55 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[pipeline.py: 1174]
+05/15 04:12:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 04:12:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 04:13:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:13:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[save_utils.py: 785]
+05/15 04:13:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 13.83s (batch: 3.25s, save: 10.58s)	[pipeline.py: 300]
+05/15 04:13:09 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.36s:
+  episode_total: mean=170.72s, total=170.72s, count=1, min=170724.8ms, max=170724.8ms
+  sensor_polling: mean=403.5ms, total=121.06s, count=300, min=378.8ms, max=672.3ms
+  save_trajectories: mean=10.58s, total=10.58s, count=1, min=10579.8ms, max=10579.8ms
+  physics_step: mean=23.8ms, total=7.14s, count=300, min=17.4ms, max=34.4ms
+  save_batch_prep: mean=3.25s, total=3.25s, count=1, min=3248.5ms, max=3248.5ms
+  task_sampling: mean=357.6ms, total=357.6ms, count=1, min=357.6ms, max=357.6ms
+  task_specific_sample: mean=353.9ms, total=353.9ms, count=1, min=353.9ms, max=353.9ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=455.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.6us, 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 04:13:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:13:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:13:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:13:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:13:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:13:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:13:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:13:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:13:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:13:11 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 04:13:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:13:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058994m	[env.py: 870]
+05/15 04:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:13:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.2306763  -0.02321733  0.05899448] yaw=-161.4deg	[env.py: 1019]
+05/15 04:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.40975828 -0.00836963  0.05899448] yaw=-150.6deg	[env.py: 1019]
+05/15 04:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.02249486 -0.8322646   0.05899448] yaw=162.8deg	[env.py: 1019]
+05/15 04:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:13:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.5ms, total=93.5ms	[env.py: 1075]
+05/15 04:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.231, -0.023, 0.059)	[env.py: 1079]
+05/15 04:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.4 deg	[env.py: 1082]
+05/15 04:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.158m	[env.py: 1086]
+05/15 04:13:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:13:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:13:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:13:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:13:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:13:11 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:13:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:13:11 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 04:13:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:13:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:13:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:13:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:13:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.378s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 04:13:14 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 04:13:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:13:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:13:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:13:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:13:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:13:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:13:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:13:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:13:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:13:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 04:13:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:13:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.016m, effective arm-mount z=0.844m (base_body_z=-0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015673m	[env.py: 870]
+05/15 04:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:13:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.11334595 -0.91198169 -0.01567345] yaw=180.3deg	[env.py: 1019]
+05/15 04:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.00763937 -0.47717183 -0.01567345] yaw=-174.2deg	[env.py: 1019]
+05/15 04:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.00841128 -1.18463086 -0.01567345] yaw=172.3deg	[env.py: 1019]
+05/15 04:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:13:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=119.5ms, total=119.6ms	[env.py: 1075]
+05/15 04:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.113, -0.912, -0.016)	[env.py: 1079]
+05/15 04:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.3 deg	[env.py: 1082]
+05/15 04:13:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.192m	[env.py: 1086]
+05/15 04:13:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:13:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:13:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:13:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:13:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:13:16 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:13:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:13:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 04:13:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:13:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:13:16 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 04:13:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:13:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.446s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 04:13:18 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 04:13:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:13:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:13:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:13:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:13:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:13:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:13:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:13:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:13:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:13:20 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 04:13:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:13:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024830m	[env.py: 870]
+05/15 04:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:13:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.41430172 -0.30701695  0.02482951] yaw=-122.3deg	[env.py: 1019]
+05/15 04:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.10515287 -1.23213696  0.02482951] yaw=163.8deg	[env.py: 1019]
+05/15 04:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.18349982 -1.10601661  0.02482951] yaw=190.2deg	[env.py: 1019]
+05/15 04:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:13:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.5ms, total=196.5ms	[env.py: 1075]
+05/15 04:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.414, -0.307, 0.025)	[env.py: 1079]
+05/15 04:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -122.3 deg	[env.py: 1082]
+05/15 04:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m	[env.py: 1086]
+05/15 04:13:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:13:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:13:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:13:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:13:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:13:20 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:13:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:13:20 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 04:13:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:13:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:13:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:13:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.857s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:13:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.396[m] 77.132[deg]	[grasp_sample.py: 539]
+05/15 04:13:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:13:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:13:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:13:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:13:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 04:13:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 04:13:22 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 04:13:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:13:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 64 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:13:31 INFO: [Worker 0] Feasibility-checked 64 grasps in 8.765s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:13:31 INFO: [Worker 0] Feasible grasp found 127 (originally 12): w/ 0.054[m] 16.753[deg]	[grasp_sample.py: 539]
+05/15 04:13:32 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 04:13:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:13:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:13:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:13:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:13:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:13:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:13:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:13:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:13:34 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 04:13:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:13:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009650m	[env.py: 870]
+05/15 04:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:13:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18724 free points within sampling radius	[env.py: 907]
+05/15 04:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 142.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.03200023 -0.71858075  0.00965   ] yaw=-199.6deg	[env.py: 1019]
+05/15 04:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.17632934 -0.69237455  0.00965   ] yaw=-192.4deg	[env.py: 1019]
+05/15 04:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.01916132 -0.87600448  0.00965   ] yaw=172.9deg	[env.py: 1019]
+05/15 04:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:13:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=151.2ms, total=151.3ms	[env.py: 1075]
+05/15 04:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.032, -0.719, 0.010)	[env.py: 1079]
+05/15 04:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -199.6 deg	[env.py: 1082]
+05/15 04:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m	[env.py: 1086]
+05/15 04:13:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:13:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:13:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:13:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:13:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:13:34 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:13:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:13:34 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 04:13:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:13:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:13:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.182s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:13:36 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.604[m] 76.943[deg]	[grasp_sample.py: 539]
+05/15 04:13:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:13:36 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[pipeline.py: 1174]
+05/15 04:13:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/15 04:13:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 04:13:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:13:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:13:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 04:13:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:13:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[save_utils.py: 785]
+05/15 04:13:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 13.76s (batch: 3.26s, save: 10.50s)	[pipeline.py: 300]
+05/15 04:13:50 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.24s:
+  episode_total: mean=101.57s, total=304.70s, count=3, min=3038.8ms, max=162856.6ms
+  sensor_polling: mean=404.5ms, total=232.56s, count=575, min=367.8ms, max=729.2ms
+  physics_step: mean=24.9ms, total=14.30s, count=575, min=16.7ms, max=61.2ms
+  save_trajectories: mean=10.50s, total=10.50s, count=1, min=10497.9ms, max=10497.9ms
+  save_batch_prep: mean=3.26s, total=3.26s, count=1, min=3258.6ms, max=3258.6ms
+  task_sampling: mean=414.3ms, total=1.24s, count=3, min=361.4ms, max=476.5ms
+  task_specific_sample: mean=411.0ms, total=1.23s, count=3, min=358.8ms, max=473.1ms
+  scene_randomize: mean=1.8ms, total=5.3ms, count=3, min=1.3ms, max=2.6ms
+  mj_forward_sync: mean=496.3us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=19.1us, 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 04:13:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:13:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:13:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:13:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:13:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:13:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:13:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:13:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:13:51 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 04:13:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:13:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:13:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:13:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:13:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051178m	[env.py: 870]
+05/15 04:13:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:13:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -80.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.20375393 -0.09816989  0.05117758] yaw=-163.5deg	[env.py: 1019]
+05/15 04:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.41936706  0.07907021  0.05117758] yaw=-128.7deg	[env.py: 1019]
+05/15 04:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:13:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=163.3ms, total=163.4ms	[env.py: 1075]
+05/15 04:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.204, -0.098, 0.051)	[env.py: 1079]
+05/15 04:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.5 deg	[env.py: 1082]
+05/15 04:13:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.128m	[env.py: 1086]
+05/15 04:13:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:13:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:13:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:13:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:13:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:13:52 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:13:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:13:52 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 04:13:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:13:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:13:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:13:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.415s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 04:13:54 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 04:13:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:13:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:13:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:13:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:13:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:13:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:13:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:13:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:13:56 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 04:13:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:13:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.047m, effective arm-mount z=0.813m (base_body_z=-0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.047460m	[env.py: 870]
+05/15 04:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:13:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.35765095 -0.25709991 -0.04745998] yaw=-132.5deg	[env.py: 1019]
+05/15 04:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.17505222 -0.35888261 -0.04745998] yaw=-129.9deg	[env.py: 1019]
+05/15 04:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.14764899 -0.31533309 -0.04745998] yaw=-172.4deg	[env.py: 1019]
+05/15 04:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:13:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.8ms, total=131.8ms	[env.py: 1075]
+05/15 04:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.358, -0.257, -0.047)	[env.py: 1079]
+05/15 04:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.5 deg	[env.py: 1082]
+05/15 04:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m	[env.py: 1086]
+05/15 04:13:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:13:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:13:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:13:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:13:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:13:56 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:13:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:13:56 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 04:13:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:13:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:13:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.742s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:13:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.675[m] 123.588[deg]	[grasp_sample.py: 539]
+05/15 04:13:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:13:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:13:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:13:58 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 04:14:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:14:05 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 04:14:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:14:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:14:25 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[pipeline.py: 1174]
+05/15 04:14:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 04:14:25 INFO: [Worker 0] Preparing episode data: 299 timesteps	[save_utils.py: 278]
+05/15 04:14:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:14:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:14:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:14:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[save_utils.py: 785]
+05/15 04:14:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 13.95s (batch: 3.26s, save: 10.69s)	[pipeline.py: 300]
+05/15 04:14:40 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.45s:
+  episode_total: mean=178.24s, total=178.24s, count=1, min=178241.5ms, max=178241.5ms
+  sensor_polling: mean=426.3ms, total=127.02s, count=298, min=383.5ms, max=709.0ms
+  save_trajectories: mean=10.69s, total=10.69s, count=1, min=10691.4ms, max=10691.4ms
+  physics_step: mean=27.2ms, total=8.09s, count=298, min=16.8ms, max=40.5ms
+  save_batch_prep: mean=3.26s, total=3.26s, count=1, min=3257.7ms, max=3257.7ms
+  task_sampling: mean=447.2ms, total=447.2ms, count=1, min=447.2ms, max=447.2ms
+  task_specific_sample: mean=444.5ms, total=444.5ms, count=1, min=444.5ms, max=444.5ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=447.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.7us, 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 04:14:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:14:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:14:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:14:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:14:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:14:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:14:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:14:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:14:41 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 04:14:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:14:41 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 04:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.049731m	[env.py: 870]
+05/15 04:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:14:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 159.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.24861663 -0.1966088  -0.04973063] yaw=-163.4deg	[env.py: 1019]
+05/15 04:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.52739393 -0.04503751 -0.04973063] yaw=-152.3deg	[env.py: 1019]
+05/15 04:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:14:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=325.1ms, total=325.2ms	[env.py: 1075]
+05/15 04:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.249, -0.197, -0.050)	[env.py: 1079]
+05/15 04:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.4 deg	[env.py: 1082]
+05/15 04:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m	[env.py: 1086]
+05/15 04:14:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:14:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:14:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:14:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:14:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:14:42 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:14:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:14:42 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 04:14:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:14:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:14:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.057s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:14:44 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.762[m] 127.422[deg]	[grasp_sample.py: 539]
+05/15 04:14:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:14:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:14:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:14:45 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 04:15:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:15:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:15:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:15:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:15:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:15:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:15:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:15:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:15:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:15:42 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 04:15:45 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 04:15:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:16:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:16:03 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[pipeline.py: 1174]
+05/15 04:16:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 04:16:03 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
+05/15 04:16:07 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 04:16:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:16:08 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[pipeline.py: 1174]
+05/15 04:16:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 04:16:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 04:16:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:16:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[save_utils.py: 785]
+05/15 04:16:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 14.56s (batch: 3.25s, save: 11.31s)	[pipeline.py: 300]
+05/15 04:16:18 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.14s:
+  episode_total: mean=61.55s, total=184.65s, count=3, min=2886.3ms, max=178815.4ms
+  sensor_polling: mean=412.9ms, total=123.46s, count=299, min=366.8ms, max=716.2ms
+  save_trajectories: mean=11.31s, total=11.31s, count=1, min=11306.2ms, max=11306.2ms
+  physics_step: mean=25.3ms, total=7.57s, count=299, min=16.8ms, max=53.0ms
+  save_batch_prep: mean=3.25s, total=3.25s, count=1, min=3248.8ms, max=3248.8ms
+  task_sampling: mean=378.5ms, total=1.14s, count=3, min=329.6ms, max=442.5ms
+  task_specific_sample: mean=375.6ms, total=1.13s, count=3, min=326.3ms, max=440.0ms
+  scene_randomize: mean=1.5ms, total=4.4ms, count=3, min=1.1ms, max=2.0ms
+  mj_forward_sync: mean=491.6us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=18.2us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 04:16:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:16:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:16:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:16:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:16:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:16:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:16:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:16:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:16:20 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 04:16:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:16:20 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 04:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012037m	[env.py: 870]
+05/15 04:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:16:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 155.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.08683004 -0.78931989  0.01203658] yaw=-187.7deg	[env.py: 1019]
+05/15 04:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.0472238  -0.81602394  0.01203658] yaw=172.6deg	[env.py: 1019]
+05/15 04:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.15441909 -0.64565383  0.01203658] yaw=-169.2deg	[env.py: 1019]
+05/15 04:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:16:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=172.7ms, total=172.8ms	[env.py: 1075]
+05/15 04:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.087, -0.789, 0.012)	[env.py: 1079]
+05/15 04:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -187.7 deg	[env.py: 1082]
+05/15 04:16:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m	[env.py: 1086]
+05/15 04:16:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:16:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:16:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:16:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:16:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:16:20 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:16:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:16:20 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 04:16:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:16:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:16:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.720s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:16:21 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.508[m] 81.245[deg]	[grasp_sample.py: 539]
+05/15 04:16:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:16:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:16:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:16:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 04:16:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:16:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[save_utils.py: 785]
+05/15 04:16:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 14.63s (batch: 3.54s, save: 11.09s)	[pipeline.py: 300]
+05/15 04:16:23 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.84s:
+  episode_total: mean=150.34s, total=300.68s, count=2, min=131542.0ms, max=169138.1ms
+  sensor_polling: mean=395.0ms, total=218.41s, count=553, min=365.6ms, max=727.8ms
+  physics_step: mean=23.6ms, total=13.04s, count=553, min=16.8ms, max=33.9ms
+  save_trajectories: mean=11.09s, total=11.09s, count=1, min=11090.6ms, max=11090.6ms
+  save_batch_prep: mean=3.54s, total=3.54s, count=1, min=3539.8ms, max=3539.8ms
+  task_sampling: mean=422.3ms, total=844.6ms, count=2, min=411.2ms, max=433.4ms
+  task_specific_sample: mean=418.8ms, total=837.6ms, count=2, min=407.4ms, max=430.2ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.5ms, max=2.5ms
+  mj_forward_sync: mean=456.4us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=26.3us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 04:16:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:16:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:16:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:16:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:16:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:16:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:16:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:16:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:16:24 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 04:16:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:16:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.011m, effective arm-mount z=0.849m (base_body_z=-0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011293m	[env.py: 870]
+05/15 04:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:16:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18724 free points within sampling radius	[env.py: 907]
+05/15 04:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 137.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.1694923  -0.70468356 -0.01129291] yaw=-145.9deg	[env.py: 1019]
+05/15 04:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.17821323 -0.43413041 -0.01129291] yaw=-144.9deg	[env.py: 1019]
+05/15 04:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.54106946 -0.18264889 -0.01129291] yaw=-145.6deg	[env.py: 1019]
+05/15 04:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:16:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.0ms, total=142.1ms	[env.py: 1075]
+05/15 04:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.169, -0.705, -0.011)	[env.py: 1079]
+05/15 04:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.9 deg	[env.py: 1082]
+05/15 04:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m	[env.py: 1086]
+05/15 04:16:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:16:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:16:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:16:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:16:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:16:25 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:16:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:16:25 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 04:16:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:16:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:16:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.629s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:16:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.465[m] 71.182[deg]	[grasp_sample.py: 539]
+05/15 04:16:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:16:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:16:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:16:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 04:16:28 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[pipeline.py: 1174]
+05/15 04:16:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/15 04:16:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 04:16:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:16:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[save_utils.py: 785]
+05/15 04:16:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 15.38s (batch: 3.57s, save: 11.81s)	[pipeline.py: 300]
+05/15 04:16:44 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.78s:
+  episode_total: mean=85.61s, total=171.22s, count=2, min=2985.8ms, max=168236.9ms
+  sensor_polling: mean=399.3ms, total=119.79s, count=300, min=372.1ms, max=643.1ms
+  save_trajectories: mean=11.81s, total=11.81s, count=1, min=11809.8ms, max=11809.8ms
+  physics_step: mean=24.0ms, total=7.19s, count=300, min=17.3ms, max=37.6ms
+  save_batch_prep: mean=3.57s, total=3.57s, count=1, min=3574.5ms, max=3574.5ms
+  task_sampling: mean=390.5ms, total=781.1ms, count=2, min=373.3ms, max=407.7ms
+  task_specific_sample: mean=387.5ms, total=774.9ms, count=2, min=370.5ms, max=404.4ms
+  scene_randomize: mean=1.6ms, total=3.2ms, count=2, min=1.1ms, max=2.0ms
+  mj_forward_sync: mean=462.6us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.2us, 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 04:16:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:16:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:16:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:16:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:16:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:16:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:16:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:16:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:16:46 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 04:16:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:16:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091174m	[env.py: 870]
+05/15 04:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:16:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.54206629 -0.16778231  0.09117394] yaw=-135.0deg	[env.py: 1019]
+05/15 04:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.30070928 -0.25709713  0.09117394] yaw=-142.0deg	[env.py: 1019]
+05/15 04:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.26020242 -0.77211904  0.09117394] yaw=-192.9deg	[env.py: 1019]
+05/15 04:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:16:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=82.2ms, total=82.2ms	[env.py: 1075]
+05/15 04:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.542, -0.168, 0.091)	[env.py: 1079]
+05/15 04:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.0 deg	[env.py: 1082]
+05/15 04:16:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m	[env.py: 1086]
+05/15 04:16:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:16:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:16:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:16:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:16:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:16:46 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:16:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:16:46 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 04:16:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:16:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:16:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.907s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:16:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.514[m] 98.073[deg]	[grasp_sample.py: 539]
+05/15 04:16:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:16:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:16:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:16:48 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 04:17:01 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 04:17:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:17:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:17:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:17:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:17:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:17:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:17:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:17:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:17:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:17:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:17:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:17:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:17:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 04:17:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 04:17:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 04:17:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:17:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:17:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.670s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:17:21 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.075[m] 4.041[deg]	[grasp_sample.py: 539]
+05/15 04:17:22 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[pipeline.py: 1174]
+05/15 04:17:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 04:17:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 04:17:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:17:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:17:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:17:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:17:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:17:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:17:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[save_utils.py: 785]
+05/15 04:17:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 14.00s (batch: 3.40s, save: 10.59s)	[pipeline.py: 300]
+05/15 04:17:36 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.59s:
+  episode_total: mean=175.07s, total=175.07s, count=1, min=175070.9ms, max=175070.9ms
+  sensor_polling: mean=421.8ms, total=126.53s, count=300, min=383.6ms, max=708.9ms
+  save_trajectories: mean=10.59s, total=10.59s, count=1, min=10594.5ms, max=10594.5ms
+  physics_step: mean=24.4ms, total=7.33s, count=300, min=16.7ms, max=35.3ms
+  save_batch_prep: mean=3.40s, total=3.40s, count=1, min=3402.2ms, max=3402.2ms
+  task_sampling: mean=593.4ms, total=593.4ms, count=1, min=593.4ms, max=593.4ms
+  task_specific_sample: mean=588.7ms, total=588.7ms, count=1, min=588.7ms, max=588.7ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=620.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=22.6us, 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 04:17:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:17:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:17:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:17:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:17:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:17:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:17:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:17:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:17:38 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 04:17:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:17:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.071m, effective arm-mount z=0.789m (base_body_z=-0.071m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.071057m	[env.py: 870]
+05/15 04:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:17:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 149.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.02606332 -0.95444757 -0.07105722] yaw=144.8deg	[env.py: 1019]
+05/15 04:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.12273707 -0.39365552 -0.07105722] yaw=-174.1deg	[env.py: 1019]
+05/15 04:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.04559767 -1.18987167 -0.07105722] yaw=144.4deg	[env.py: 1019]
+05/15 04:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:17:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=174.7ms, total=174.7ms	[env.py: 1075]
+05/15 04:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.026, -0.954, -0.071)	[env.py: 1079]
+05/15 04:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 144.8 deg	[env.py: 1082]
+05/15 04:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m	[env.py: 1086]
+05/15 04:17:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:17:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:17:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:17:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:17:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:17:38 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:17:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:17:38 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 04:17:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:17:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:17:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.275s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:17:41 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.756[m] 102.829[deg]	[grasp_sample.py: 539]
+05/15 04:17:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:17:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:17:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:17:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 04:17:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:17:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:17:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:17:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:18:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:18:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:18:42 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 04:18:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:18:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:18:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:18:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:18:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:18:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:18:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 04:18:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 04:18:51 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 04:18:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:18:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:18:53 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.072s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:18:53 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.826[deg]	[grasp_sample.py: 539]
+05/15 04:18:55 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 04:18:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:18:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:18:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:18:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:18:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:18:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:18:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:18:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:18:56 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 04:18:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:18:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053847m	[env.py: 870]
+05/15 04:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:18:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.39550298 -0.16816915  0.05384712] yaw=-112.4deg	[env.py: 1019]
+05/15 04:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -161.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:18:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:18:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.2048708  -0.4003982   0.05384712] yaw=-149.7deg	[env.py: 1019]
+05/15 04:18:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:18:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.21425666 -1.12437487  0.05384712] yaw=157.7deg	[env.py: 1019]
+05/15 04:18:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:18:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:18:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=412.4ms, total=412.5ms	[env.py: 1075]
+05/15 04:18:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.396, -0.168, 0.054)	[env.py: 1079]
+05/15 04:18:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -112.4 deg	[env.py: 1082]
+05/15 04:18:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m	[env.py: 1086]
+05/15 04:18:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:18:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:18:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:18:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:18:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:18:57 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:18:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:18:57 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 04:18:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:18:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:18:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:18:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.140s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:18:59 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.626[m] 104.099[deg]	[grasp_sample.py: 539]
+05/15 04:18:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:19:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:19:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:19:00 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 04:19:04 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 04:19:04 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[pipeline.py: 1174]
+05/15 04:19:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 04:19:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 04:19:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:19:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:19:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:19:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[save_utils.py: 785]
+05/15 04:19:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 14.36s (batch: 3.42s, save: 10.94s)	[pipeline.py: 300]
+05/15 04:19:19 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.42s:
+  episode_total: mean=174.53s, total=174.53s, count=1, min=174530.8ms, max=174530.8ms
+  sensor_polling: mean=418.8ms, total=125.63s, count=300, min=371.1ms, max=720.0ms
+  save_trajectories: mean=10.94s, total=10.94s, count=1, min=10944.7ms, max=10944.7ms
+  physics_step: mean=25.9ms, total=7.77s, count=300, min=16.8ms, max=34.3ms
+  save_batch_prep: mean=3.42s, total=3.42s, count=1, min=3416.1ms, max=3416.1ms
+  task_sampling: mean=415.3ms, total=415.3ms, count=1, min=415.3ms, max=415.3ms
+  task_specific_sample: mean=412.0ms, total=412.0ms, count=1, min=412.0ms, max=412.0ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=453.6us, 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 04:19:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:19:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:19:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:19:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:19:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:19:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:19:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:19:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:19:20 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 04:19:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:19:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.031m, effective arm-mount z=0.829m (base_body_z=-0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.030984m	[env.py: 870]
+05/15 04:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:19:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18724 free points within sampling radius	[env.py: 907]
+05/15 04:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 142.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.09846049 -0.52975155 -0.03098384] yaw=-172.0deg	[env.py: 1019]
+05/15 04:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.47222078 -0.01871519 -0.03098384] yaw=-153.0deg	[env.py: 1019]
+05/15 04:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.22906621 -0.66316108 -0.03098384] yaw=-163.9deg	[env.py: 1019]
+05/15 04:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:19:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=148.8ms, total=148.9ms	[env.py: 1075]
+05/15 04:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.098, -0.530, -0.031)	[env.py: 1079]
+05/15 04:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.0 deg	[env.py: 1082]
+05/15 04:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m	[env.py: 1086]
+05/15 04:19:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:19:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:19:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:19:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:19:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:19:21 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:19:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:19:21 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 04:19:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:19:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:19:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.026s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:19:23 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.649[m] 77.185[deg]	[grasp_sample.py: 539]
+05/15 04:19:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:19:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:19:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:19:23 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[pipeline.py: 1174]
+05/15 04:19:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 04:19:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 04:19:24 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 04:19:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:19:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[save_utils.py: 785]
+05/15 04:19:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 13.23s (batch: 2.92s, save: 10.32s)	[pipeline.py: 300]
+05/15 04:19:37 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.43s:
+  episode_total: mean=197.13s, total=197.13s, count=1, min=197133.8ms, max=197133.8ms
+  sensor_polling: mean=403.8ms, total=121.13s, count=300, min=376.6ms, max=638.5ms
+  save_trajectories: mean=10.32s, total=10.32s, count=1, min=10316.2ms, max=10316.2ms
+  physics_step: mean=24.2ms, total=7.27s, count=300, min=17.4ms, max=35.4ms
+  save_batch_prep: mean=2.92s, total=2.92s, count=1, min=2915.1ms, max=2915.1ms
+  task_sampling: mean=434.6ms, total=434.6ms, count=1, min=434.6ms, max=434.6ms
+  task_specific_sample: mean=429.7ms, total=429.7ms, count=1, min=429.7ms, max=429.7ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=802.0us, total=0.8ms, count=1, min=0.8ms, max=0.8ms
+  policy_setup: mean=24.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 04:19:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:19:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:19:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:19:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:19:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:19:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:19:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:19:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:19:38 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 04:19:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:19:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038692m	[env.py: 870]
+05/15 04:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:19:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.02938617 -0.80012702  0.0386923 ] yaw=-193.6deg	[env.py: 1019]
+05/15 04:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.24646522 -0.32610078  0.0386923 ] yaw=-136.9deg	[env.py: 1019]
+05/15 04:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 169.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.20088435 -1.21588316  0.0386923 ] yaw=177.5deg	[env.py: 1019]
+05/15 04:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:19:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.0ms, total=106.1ms	[env.py: 1075]
+05/15 04:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.029, -0.800, 0.039)	[env.py: 1079]
+05/15 04:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -193.6 deg	[env.py: 1082]
+05/15 04:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.104m	[env.py: 1086]
+05/15 04:19:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:19:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:19:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:19:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:19:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:19:39 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:19:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:19:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 04:19:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:19:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:19:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.860s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:19:45 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.811[m] 78.253[deg]	[grasp_sample.py: 539]
+05/15 04:19:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:19:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:19:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:19:46 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 04:19:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:20:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:20:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:20:11 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 04:20:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:20:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:20:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:20:33 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[pipeline.py: 1174]
+05/15 04:20:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 04:20:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 04:20:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:20:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[save_utils.py: 785]
+05/15 04:20:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 13.43s (batch: 3.03s, save: 10.40s)	[pipeline.py: 300]
+05/15 04:20:47 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.45s:
+  episode_total: mean=189.20s, total=189.20s, count=1, min=189195.3ms, max=189195.3ms
+  sensor_polling: mean=440.2ms, total=132.05s, count=300, min=395.9ms, max=697.2ms
+  save_trajectories: mean=10.40s, total=10.40s, count=1, min=10401.7ms, max=10401.7ms
+  physics_step: mean=26.1ms, total=7.84s, count=300, min=21.3ms, max=33.3ms
+  save_batch_prep: mean=3.03s, total=3.03s, count=1, min=3025.3ms, max=3025.3ms
+  task_sampling: mean=445.7ms, total=445.7ms, count=1, min=445.7ms, max=445.7ms
+  task_specific_sample: mean=441.6ms, total=441.6ms, count=1, min=441.6ms, max=441.6ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=461.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 04:20:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:20:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:20:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:20:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:20:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:20:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:20:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:20:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:20:48 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 04:20:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:20:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.078m, effective arm-mount z=0.782m (base_body_z=-0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.077752m	[env.py: 870]
+05/15 04:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:20:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.36710304 -0.07008742 -0.07775203] yaw=-129.8deg	[env.py: 1019]
+05/15 04:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 136.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.00886771 -0.53031933 -0.07775203] yaw=-140.1deg	[env.py: 1019]
+05/15 04:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -164.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.10256445 -0.91582437 -0.07775203] yaw=163.5deg	[env.py: 1019]
+05/15 04:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:20:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=149.0ms, total=149.1ms	[env.py: 1075]
+05/15 04:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.367, -0.070, -0.078)	[env.py: 1079]
+05/15 04:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.8 deg	[env.py: 1082]
+05/15 04:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m	[env.py: 1086]
+05/15 04:20:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:20:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:20:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:20:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:20:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:20:49 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:20:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:20:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 04:20:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:20:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:20:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:20:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:20:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.294s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:20:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.836[m] 115.095[deg]	[grasp_sample.py: 539]
+05/15 04:20:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:20:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:20:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:20:52 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 04:20:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:20:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:20:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:20:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:20:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:21:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:21:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 04:21:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 04:21:01 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 04:21:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:21:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:21:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:21:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:21:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:21:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:21:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:21:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:21:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 21.353s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:21:22 INFO: [Worker 0] Feasible grasp found 173 (originally 58): w/ 0.175[m] 29.265[deg]	[grasp_sample.py: 539]
+05/15 04:21:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:21:23 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 04:21:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:21:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 04:21:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 04:21:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 04:21:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:21:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:21:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:21:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:21:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:21:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:21:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:21:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:21:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:21:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:21:25 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 04:21:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:21:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.019m, effective arm-mount z=0.841m (base_body_z=-0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.018618m	[env.py: 870]
+05/15 04:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:21:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.17653186 -0.19032845 -0.01861778] yaw=-128.6deg	[env.py: 1019]
+05/15 04:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.37729351 -0.13678415 -0.01861778] yaw=-107.2deg	[env.py: 1019]
+05/15 04:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.00534972 -0.76594177 -0.01861778] yaw=-155.4deg	[env.py: 1019]
+05/15 04:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:21:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.3ms, total=91.3ms	[env.py: 1075]
+05/15 04:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.177, -0.190, -0.019)	[env.py: 1079]
+05/15 04:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.6 deg	[env.py: 1082]
+05/15 04:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m	[env.py: 1086]
+05/15 04:21:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:21:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:21:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:21:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:21:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:21:25 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:21:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:21:25 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 04:21:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:21:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:21:26 INFO: [Worker 0] Feasibility-checked 80 grasps in 2.487s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:21:26 INFO: [Worker 0] Feasible grasp found 190 (originally 75): w/ 0.071[m] 3.856[deg]	[grasp_sample.py: 539]
+05/15 04:21:27 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 04:21:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:21:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:21:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:21:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:21:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:21:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:21:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:21:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:21:29 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 04:21:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:21:29 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 04:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.007059m	[env.py: 870]
+05/15 04:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:21:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.18188393 -0.9565483  -0.0070594 ] yaw=156.5deg	[env.py: 1019]
+05/15 04:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.31785639 -0.01944418 -0.0070594 ] yaw=-160.6deg	[env.py: 1019]
+05/15 04:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.34827157  0.10701    -0.0070594 ] yaw=-148.0deg	[env.py: 1019]
+05/15 04:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:21:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=113.7ms, total=113.7ms	[env.py: 1075]
+05/15 04:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.182, -0.957, -0.007)	[env.py: 1079]
+05/15 04:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.5 deg	[env.py: 1082]
+05/15 04:21:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m	[env.py: 1086]
+05/15 04:21:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:21:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:21:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:21:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:21:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.712s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:21:29 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.764[m] 100.992[deg]	[grasp_sample.py: 539]
+05/15 04:21:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:21:29 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:21:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:21:29 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 04:21:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:21:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:21:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.755s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:21:30 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.390[m] 53.107[deg]	[grasp_sample.py: 539]
+05/15 04:21:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:21:31 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 04:21:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:21:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:21:31 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 04:21:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:21:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:21:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:21:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:21:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:21:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:21:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:21:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:21:32 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 04:21:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:21:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007543m	[env.py: 870]
+05/15 04:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:21:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.28550664 -0.29339922  0.00754265] yaw=-130.9deg	[env.py: 1019]
+05/15 04:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.2261378  -1.07725532  0.00754265] yaw=165.7deg	[env.py: 1019]
+05/15 04:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.1247116  -0.47335534  0.00754265] yaw=-135.0deg	[env.py: 1019]
+05/15 04:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:21:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=357.7ms, total=357.8ms	[env.py: 1075]
+05/15 04:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.286, -0.293, 0.008)	[env.py: 1079]
+05/15 04:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.9 deg	[env.py: 1082]
+05/15 04:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m	[env.py: 1086]
+05/15 04:21:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:21:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:21:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:21:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:21:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:21:33 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:21:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:21:33 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 04:21:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:21:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:21:35 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 04:21:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.469s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:21:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.366[m] 87.537[deg]	[grasp_sample.py: 539]
+05/15 04:21:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:21:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:21:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:21:57 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[pipeline.py: 1174]
+05/15 04:21:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 04:21:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 04:22:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:22:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:22:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:22:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[save_utils.py: 785]
+05/15 04:22:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 13.83s (batch: 3.16s, save: 10.67s)	[pipeline.py: 300]
+05/15 04:22:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:22:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:22:11 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.44s:
+  episode_total: mean=170.71s, total=170.71s, count=1, min=170711.2ms, max=170711.2ms
+  sensor_polling: mean=405.2ms, total=121.57s, count=300, min=367.7ms, max=718.2ms
+  save_trajectories: mean=10.67s, total=10.67s, count=1, min=10669.3ms, max=10669.3ms
+  physics_step: mean=25.1ms, total=7.54s, count=300, min=17.7ms, max=36.0ms
+  save_batch_prep: mean=3.16s, total=3.16s, count=1, min=3161.9ms, max=3161.9ms
+  task_sampling: mean=437.1ms, total=437.1ms, count=1, min=437.1ms, max=437.1ms
+  task_specific_sample: mean=433.0ms, total=433.0ms, count=1, min=433.0ms, max=433.0ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=456.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.6us, 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 04:22:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:22:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:22:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:22:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:22:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:22:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:22:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:22:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:22:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 04:22:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:22:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.045m, effective arm-mount z=0.815m (base_body_z=-0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045311m	[env.py: 870]
+05/15 04:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:22:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18724 free points within sampling radius	[env.py: 907]
+05/15 04:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.00253457 -0.53453168 -0.04531088] yaw=-137.9deg	[env.py: 1019]
+05/15 04:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 153.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.38218363  0.10307742 -0.04531088] yaw=-138.9deg	[env.py: 1019]
+05/15 04:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.08562873 -0.39850062 -0.04531088] yaw=-158.5deg	[env.py: 1019]
+05/15 04:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:22:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.6ms, total=137.6ms	[env.py: 1075]
+05/15 04:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.003, -0.535, -0.045)	[env.py: 1079]
+05/15 04:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.9 deg	[env.py: 1082]
+05/15 04:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.108m	[env.py: 1086]
+05/15 04:22:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:22:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:22:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:22:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:22:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:22:13 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:22:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:22:13 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 04:22:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:22:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:22:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:22:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:22:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.177s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:22:15 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.649[m] 65.221[deg]	[grasp_sample.py: 539]
+05/15 04:22:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:22:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:22:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:22:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 04:22:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:22:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:22:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:22:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:22:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:22:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:22:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:22:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:22:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:22:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:22:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:22:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 04:22:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 04:22:58 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 04:22:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:22:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:23:00 INFO: [Worker 0] Feasibility-checked 84 grasps in 2.591s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 04:23:00 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 04:23:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:23:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:23:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:23:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:23:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:23:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:23:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:23:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:23:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 04:23:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:23:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063630m	[env.py: 870]
+05/15 04:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:23:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 151.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.10310246 -0.82100503  0.06363032] yaw=173.1deg	[env.py: 1019]
+05/15 04:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.14983829 -0.20361147  0.06363032] yaw=-147.5deg	[env.py: 1019]
+05/15 04:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -78.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.10380429 -0.89340508  0.06363032] yaw=203.0deg	[env.py: 1019]
+05/15 04:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:23:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=237.3ms, total=237.4ms	[env.py: 1075]
+05/15 04:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.103, -0.821, 0.064)	[env.py: 1079]
+05/15 04:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.1 deg	[env.py: 1082]
+05/15 04:23:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.177m	[env.py: 1086]
+05/15 04:23:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:23:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:23:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:23:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:23:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:23:02 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:23:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:23:02 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 04:23:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:23:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:23:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.204s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 04:23:05 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 04:23:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:23:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:23:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:23:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:23:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:23:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:23:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:23:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:23:06 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 04:23:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:23:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080706m	[env.py: 870]
+05/15 04:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:23:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.13600022 -0.48049873  0.08070589] yaw=-142.5deg	[env.py: 1019]
+05/15 04:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.29046492 -1.19131944  0.08070589] yaw=135.8deg	[env.py: 1019]
+05/15 04:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.28941625 -1.09305708  0.08070589] yaw=155.4deg	[env.py: 1019]
+05/15 04:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:23:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.3ms, total=167.3ms	[env.py: 1075]
+05/15 04:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.136, -0.480, 0.081)	[env.py: 1079]
+05/15 04:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.5 deg	[env.py: 1082]
+05/15 04:23:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m	[env.py: 1086]
+05/15 04:23:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:23:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:23:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:23:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:23:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:23:07 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:23:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:23:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 04:23:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:23:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:23:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:23:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.586s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:23:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.446[m] 58.872[deg]	[grasp_sample.py: 539]
+05/15 04:23:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:23:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:23:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:23:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:23:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:23:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:23:43 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 04:23:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:23:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:23:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:23:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:23:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:23:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:23:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:23:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:23:52 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 04:23:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:24:05 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[pipeline.py: 1174]
+05/15 04:24:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/15 04:24:05 INFO: [Worker 0] Preparing episode data: 296 timesteps	[save_utils.py: 278]
+05/15 04:24:13 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[pipeline.py: 1174]
+05/15 04:24:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 04:24:13 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
+05/15 04:24:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:24:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[save_utils.py: 785]
+05/15 04:24:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 14.21s (batch: 3.34s, save: 10.86s)	[pipeline.py: 300]
+05/15 04:24:20 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.39s:
+  episode_total: mean=150.32s, total=450.97s, count=3, min=129294.5ms, max=170556.3ms
+  sensor_polling: mean=405.6ms, total=348.37s, count=859, min=368.5ms, max=717.5ms
+  physics_step: mean=24.5ms, total=21.06s, count=859, min=16.8ms, max=65.8ms
+  save_trajectories: mean=10.86s, total=10.86s, count=1, min=10863.1ms, max=10863.1ms
+  save_batch_prep: mean=3.34s, total=3.34s, count=1, min=3342.2ms, max=3342.2ms
+  task_sampling: mean=462.9ms, total=1.39s, count=3, min=346.3ms, max=672.9ms
+  task_specific_sample: mean=459.4ms, total=1.38s, count=3, min=341.9ms, max=669.9ms
+  scene_randomize: mean=1.9ms, total=5.6ms, count=3, min=1.2ms, max=3.1ms
+  mj_forward_sync: mean=462.5us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=15.9us, 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 04:24:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:24:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:24:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:24:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:24:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:24:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:24:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:24:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:24:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 04:24:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:24:21 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 04:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023231m	[env.py: 870]
+05/15 04:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:24:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 130.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.26962852 -0.90421164  0.02323111] yaw=185.2deg	[env.py: 1019]
+05/15 04:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.38321114  0.08273582  0.02323111] yaw=-147.5deg	[env.py: 1019]
+05/15 04:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.20544648 -0.42518831  0.02323111] yaw=-134.1deg	[env.py: 1019]
+05/15 04:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:24:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.8ms, total=181.8ms	[env.py: 1075]
+05/15 04:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.270, -0.904, 0.023)	[env.py: 1079]
+05/15 04:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 185.2 deg	[env.py: 1082]
+05/15 04:24:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m	[env.py: 1086]
+05/15 04:24:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:24:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:24:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:24:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:24:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:24:21 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:24:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:24:21 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 04:24:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:24:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:24:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.303s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:24:24 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.485[m] 84.853[deg]	[grasp_sample.py: 539]
+05/15 04:24:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:24:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:24:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:24:25 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 04:24:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:24:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[save_utils.py: 785]
+05/15 04:24:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 13.43s (batch: 2.87s, save: 10.56s)	[pipeline.py: 300]
+05/15 04:24:27 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.34s:
+  episode_total: mean=95.10s, total=285.30s, count=3, min=5588.8ms, max=174954.3ms
+  sensor_polling: mean=402.4ms, total=178.26s, count=443, min=369.6ms, max=687.6ms
+  physics_step: mean=24.1ms, total=10.66s, count=443, min=16.6ms, max=56.1ms
+  save_trajectories: mean=10.56s, total=10.56s, count=1, min=10557.0ms, max=10557.0ms
+  save_batch_prep: mean=2.87s, total=2.87s, count=1, min=2872.1ms, max=2872.1ms
+  task_sampling: mean=446.2ms, total=1.34s, count=3, min=351.8ms, max=630.1ms
+  task_specific_sample: mean=442.4ms, total=1.33s, count=3, min=347.7ms, max=626.6ms
+  scene_randomize: mean=1.9ms, total=5.8ms, count=3, min=1.1ms, max=2.6ms
+  mj_forward_sync: mean=469.7us, total=1.4ms, count=3, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.4us, 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 04:24:28 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 04:24:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:24:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:24:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:24:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:24:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:24:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:24:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:24:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:24:28 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 04:24:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:24:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.016m, effective arm-mount z=0.844m (base_body_z=-0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:24:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:24:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:24:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.016062m	[env.py: 870]
+05/15 04:24:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:24:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:24:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:24:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.45936634 -0.16012755 -0.01606228] yaw=-121.6deg	[env.py: 1019]
+05/15 04:24:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:24:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.03804033 -0.86346703 -0.01606228] yaw=186.7deg	[env.py: 1019]
+05/15 04:24:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:24:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:24:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.13152309 -0.56053999 -0.01606228] yaw=-164.7deg	[env.py: 1019]
+05/15 04:24:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:24:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:24:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=101.1ms, total=101.1ms	[env.py: 1075]
+05/15 04:24:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.459, -0.160, -0.016)	[env.py: 1079]
+05/15 04:24:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -121.6 deg	[env.py: 1082]
+05/15 04:24:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m	[env.py: 1086]
+05/15 04:24:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:24:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:24:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:24:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:24:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:24:29 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:24:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:24:29 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 04:24:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:24:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:24:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.368s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:24:35 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.597[m] 118.886[deg]	[grasp_sample.py: 539]
+05/15 04:24:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:24:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:24:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:24:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 04:24:49 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[pipeline.py: 1174]
+05/15 04:24:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 04:24:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 04:25:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:25:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[save_utils.py: 785]
+05/15 04:25:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 15.57s (batch: 3.53s, save: 12.04s)	[pipeline.py: 300]
+05/15 04:25:05 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.40s:
+  episode_total: mean=173.05s, total=173.05s, count=1, min=173050.3ms, max=173050.3ms
+  sensor_polling: mean=406.8ms, total=122.04s, count=300, min=365.1ms, max=727.7ms
+  save_trajectories: mean=12.04s, total=12.04s, count=1, min=12037.3ms, max=12037.3ms
+  physics_step: mean=24.6ms, total=7.39s, count=300, min=17.6ms, max=35.8ms
+  save_batch_prep: mean=3.53s, total=3.53s, count=1, min=3533.0ms, max=3533.0ms
+  task_sampling: mean=397.5ms, total=397.5ms, count=1, min=397.5ms, max=397.5ms
+  task_specific_sample: mean=393.3ms, total=393.3ms, count=1, min=393.3ms, max=393.3ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=469.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.8us, 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 04:25:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:25:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:25:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:25:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:25:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:25:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:25:07 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 04:25:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:25:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091210m	[env.py: 870]
+05/15 04:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:25:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18724 free points within sampling radius	[env.py: 907]
+05/15 04:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.01139683 -1.03388608  0.09121008] yaw=157.0deg	[env.py: 1019]
+05/15 04:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.24638862 -0.58121351  0.09121008] yaw=-149.6deg	[env.py: 1019]
+05/15 04:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.01056909 -0.52595225  0.09121008] yaw=-156.9deg	[env.py: 1019]
+05/15 04:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:25:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=145.6ms, total=145.7ms	[env.py: 1075]
+05/15 04:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.011, -1.034, 0.091)	[env.py: 1079]
+05/15 04:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.0 deg	[env.py: 1082]
+05/15 04:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m	[env.py: 1086]
+05/15 04:25:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:25:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:25:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:25:07 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:25:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:25:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 04:25:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:25:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:25:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.090s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:25:08 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.734[m] 52.485[deg]	[grasp_sample.py: 539]
+05/15 04:25:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:25:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:25:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:25:09 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 04:25:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:25:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:25:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:25:23 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 04:25:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:25:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:25:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:25:45 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[pipeline.py: 1174]
+05/15 04:25:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 04:25:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 04:25:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:25:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[save_utils.py: 785]
+05/15 04:25:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 13.66s (batch: 3.01s, save: 10.64s)	[pipeline.py: 300]
+05/15 04:26:00 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=1.60s:
+  episode_total: mean=102.74s, total=308.23s, count=3, min=2825.3ms, max=173627.9ms
+  sensor_polling: mean=413.8ms, total=231.71s, count=560, min=378.1ms, max=775.6ms
+  physics_step: mean=24.2ms, total=13.55s, count=560, min=16.7ms, max=36.7ms
+  save_trajectories: mean=10.64s, total=10.64s, count=1, min=10644.8ms, max=10644.8ms
+  save_batch_prep: mean=3.01s, total=3.01s, count=1, min=3013.6ms, max=3013.6ms
+  task_sampling: mean=532.3ms, total=1.60s, count=3, min=433.7ms, max=674.7ms
+  task_specific_sample: mean=528.5ms, total=1.59s, count=3, min=429.5ms, max=671.0ms
+  scene_randomize: mean=1.9ms, total=5.8ms, count=3, min=1.5ms, max=2.8ms
+  mj_forward_sync: mean=485.4us, total=1.5ms, count=3, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.2us, 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 04:26:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:26:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:26:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:26:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:26:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:26:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:26:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:26:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:26:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:26:01 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 04:26:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:26:01 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 04:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011255m	[env.py: 870]
+05/15 04:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:26:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.01263197 -1.18381683  0.01125465] yaw=134.6deg	[env.py: 1019]
+05/15 04:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.05175877 -0.91396934  0.01125465] yaw=190.1deg	[env.py: 1019]
+05/15 04:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.04826219 -0.34618045  0.01125465] yaw=-127.8deg	[env.py: 1019]
+05/15 04:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:26:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=168.0ms, total=168.1ms	[env.py: 1075]
+05/15 04:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.013, -1.184, 0.011)	[env.py: 1079]
+05/15 04:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 134.6 deg	[env.py: 1082]
+05/15 04:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.148m	[env.py: 1086]
+05/15 04:26:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:26:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:26:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:26:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:26:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:26:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:26:01 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:26:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:26:02 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 04:26:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:26:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:26:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:26:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.272s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 04:26:04 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 04:26:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:26:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:26:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:26:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:26:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:26:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:26:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:26:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:26:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:26:05 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 04:26:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:26:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.073m, effective arm-mount z=0.787m (base_body_z=-0.073m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.073410m	[env.py: 870]
+05/15 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:26:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.47581752 -0.19365523 -0.07341016] yaw=-160.2deg	[env.py: 1019]
+05/15 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.23877873 -0.27948309 -0.07341016] yaw=-175.1deg	[env.py: 1019]
+05/15 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:26:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=171.2ms, total=171.2ms	[env.py: 1075]
+05/15 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.476, -0.194, -0.073)	[env.py: 1079]
+05/15 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.2 deg	[env.py: 1082]
+05/15 04:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m	[env.py: 1086]
+05/15 04:26:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:26:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:26:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:26:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:26:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:26:06 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:26:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:26:06 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 04:26:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:26:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:26:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:26:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.749s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:26:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.395[m] 57.624[deg]	[grasp_sample.py: 539]
+05/15 04:26:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:26:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:26:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:26:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:26:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:26:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:26:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:26:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 04:26:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 04:26:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 04:26:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:26:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:26:13 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.610s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:26:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.490[deg]	[grasp_sample.py: 539]
+05/15 04:26:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:26:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:26:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:26:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:26:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:26:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:26:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:26:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:26:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:26:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:26:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:26:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:26:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:26:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 04:26:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 04:26:31 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 04:26:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:26:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:26:31 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.679s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:26:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.070[m] 1.391[deg]	[grasp_sample.py: 539]
+05/15 04:26:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:26:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:26:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:26:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:26:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:26:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:26:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:26:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:26:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:26:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:26:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:26:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:26:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:26:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:26:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:26:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:26:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:26:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:26:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 04:26:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 04:26:46 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 04:26:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:26:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:26:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:26:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:26:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 04:26:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 04:26:48 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 04:26:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:26:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:26:48 INFO: [Worker 0] Feasibility-checked 80 grasps in 2.216s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:26:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.106[m] 0.795[deg]	[grasp_sample.py: 539]
+05/15 04:26:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:26:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:26:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:26:49 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.634s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:26:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.067[m] 1.325[deg]	[grasp_sample.py: 539]
+05/15 04:26:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:26:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:26:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:26:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:26:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:26:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:26:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:26:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:26:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:26:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:26:58 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 04:26:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:27:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:27:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:27:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:27:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 04:27:04 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/15 04:27:05 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 04:27:05 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=False episode_total=0.44s:
+  episode_total: mean=163.74s, total=163.74s, count=1, min=163740.9ms, max=163740.9ms
+  sensor_polling: mean=414.8ms, total=101.22s, count=244, min=379.3ms, max=725.3ms
+  physics_step: mean=23.6ms, total=5.77s, count=244, min=15.7ms, max=37.4ms
+  task_sampling: mean=440.4ms, total=440.4ms, count=1, min=440.4ms, max=440.4ms
+  task_specific_sample: mean=436.2ms, total=436.2ms, count=1, min=436.2ms, max=436.2ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=457.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 04:27:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:27:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:27:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:27:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:27:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:27:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:27:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:27:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:27:06 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 04:27:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:27:06 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 04:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024345m	[env.py: 870]
+05/15 04:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:27:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.48263957  0.04671502  0.02434452] yaw=-108.5deg	[env.py: 1019]
+05/15 04:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 137.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.05041591 -0.42160428  0.02434452] yaw=-179.0deg	[env.py: 1019]
+05/15 04:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:27:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=201.4ms, total=201.4ms	[env.py: 1075]
+05/15 04:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.483, 0.047, 0.024)	[env.py: 1079]
+05/15 04:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -108.5 deg	[env.py: 1082]
+05/15 04:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m	[env.py: 1086]
+05/15 04:27:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:27:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:27:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:27:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:27:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:27:07 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:27:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:27:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 04:27:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:27:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:27:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.001s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 04:27:09 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 04:27:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:27:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:27:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:27:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:27:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:27:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:27:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:27:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:27:10 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 04:27:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:27:10 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 04:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025790m	[env.py: 870]
+05/15 04:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:27:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.29498892 -0.18071484  0.02579007] yaw=-126.2deg	[env.py: 1019]
+05/15 04:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:27:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=188.3ms, total=188.3ms	[env.py: 1075]
+05/15 04:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.295, -0.181, 0.026)	[env.py: 1079]
+05/15 04:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.2 deg	[env.py: 1082]
+05/15 04:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m	[env.py: 1086]
+05/15 04:27:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:27:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:27:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:27:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:27:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:27:11 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:27:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:27:11 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 04:27:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:27:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:27:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.483s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:27:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.691[m] 108.157[deg]	[grasp_sample.py: 539]
+05/15 04:27:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:27:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:27:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:27:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 04:27:18 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[pipeline.py: 1174]
+05/15 04:27:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 04:27:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 04:27:20 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 04:27:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:27:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[save_utils.py: 785]
+05/15 04:27:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 13.99s (batch: 2.96s, save: 11.03s)	[pipeline.py: 300]
+05/15 04:27:33 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.37s:
+  episode_total: mean=184.77s, total=184.77s, count=1, min=184765.9ms, max=184765.9ms
+  sensor_polling: mean=402.8ms, total=120.83s, count=300, min=370.4ms, max=706.6ms
+  save_trajectories: mean=11.03s, total=11.03s, count=1, min=11032.4ms, max=11032.4ms
+  physics_step: mean=24.5ms, total=7.34s, count=300, min=15.5ms, max=69.5ms
+  save_batch_prep: mean=2.96s, total=2.96s, count=1, min=2958.9ms, max=2958.9ms
+  task_sampling: mean=367.8ms, total=367.8ms, count=1, min=367.8ms, max=367.8ms
+  task_specific_sample: mean=364.0ms, total=364.0ms, count=1, min=364.0ms, max=364.0ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=454.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=14.9us, 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 04:27:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:27:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:27:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:27:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:27:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:27:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:27:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:27:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:27:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 04:27:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:27:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.001m, effective arm-mount z=0.859m (base_body_z=-0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.000920m	[env.py: 870]
+05/15 04:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:27:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 9.42894947e-02 -9.43111571e-01 -9.20162146e-04] yaw=174.5deg	[env.py: 1019]
+05/15 04:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.13195929 -0.30580225 -0.00092016] yaw=-146.0deg	[env.py: 1019]
+05/15 04:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-3.26033163e-02 -1.09018945e+00 -9.20162146e-04] yaw=164.7deg	[env.py: 1019]
+05/15 04:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:27:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=294.1ms, total=294.1ms	[env.py: 1075]
+05/15 04:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.094, -0.943, -0.001)	[env.py: 1079]
+05/15 04:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.5 deg	[env.py: 1082]
+05/15 04:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.176m	[env.py: 1086]
+05/15 04:27:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:27:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:27:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:27:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:27:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:27:35 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:27:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:27:35 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 04:27:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:27:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:27:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.328s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 04:27:38 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 04:27:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:27:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:27:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:27:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:27:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:27:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:27:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:27:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:27:39 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 04:27:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:27:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091855m	[env.py: 870]
+05/15 04:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:27:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 142.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 125.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.00720462 -0.51680395  0.09185477] yaw=-178.8deg	[env.py: 1019]
+05/15 04:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.0405456  -0.70179686  0.09185477] yaw=-185.6deg	[env.py: 1019]
+05/15 04:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 131.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.32624274 -0.40169649  0.09185477] yaw=-169.9deg	[env.py: 1019]
+05/15 04:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:27:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=183.4ms, total=183.5ms	[env.py: 1075]
+05/15 04:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.007, -0.517, 0.092)	[env.py: 1079]
+05/15 04:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.8 deg	[env.py: 1082]
+05/15 04:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.108m	[env.py: 1086]
+05/15 04:27:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:27:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:27:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:27:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:27:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:27:39 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:27:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:27:40 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 04:27:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:27:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:27:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.035s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:27:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.781[m] 130.293[deg]	[grasp_sample.py: 539]
+05/15 04:27:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:27:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:27:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:27:42 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[pipeline.py: 1174]
+05/15 04:27:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 04:27:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 04:27:43 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 04:27:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:27:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:27:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:27:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:27:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:27:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[save_utils.py: 785]
+05/15 04:27:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 13.54s (batch: 3.13s, save: 10.41s)	[pipeline.py: 300]
+05/15 04:27:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:27:56 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.41s:
+  episode_total: mean=169.47s, total=169.47s, count=1, min=169465.0ms, max=169465.0ms
+  sensor_polling: mean=406.1ms, total=121.82s, count=300, min=370.4ms, max=795.4ms
+  save_trajectories: mean=10.41s, total=10.41s, count=1, min=10414.1ms, max=10414.1ms
+  physics_step: mean=24.7ms, total=7.41s, count=300, min=16.8ms, max=38.3ms
+  save_batch_prep: mean=3.13s, total=3.13s, count=1, min=3125.3ms, max=3125.3ms
+  task_sampling: mean=407.2ms, total=407.2ms, count=1, min=407.2ms, max=407.2ms
+  task_specific_sample: mean=403.1ms, total=403.1ms, count=1, min=403.1ms, max=403.1ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=458.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.9us, 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 04:27:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:27:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:27:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:27:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:27:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:27:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:27:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:27:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:27:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:27:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 04:27:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:27:58 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 04:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052665m	[env.py: 870]
+05/15 04:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:27:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18724 free points within sampling radius	[env.py: 907]
+05/15 04:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.05149881 -0.40475053  0.05266456] yaw=-135.1deg	[env.py: 1019]
+05/15 04:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.01051204 -0.86398623  0.05266456] yaw=183.6deg	[env.py: 1019]
+05/15 04:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 133.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.12977638 -0.24040514  0.05266456] yaw=-132.8deg	[env.py: 1019]
+05/15 04:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:27:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=244.9ms, total=245.0ms	[env.py: 1075]
+05/15 04:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.051, -0.405, 0.053)	[env.py: 1079]
+05/15 04:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.1 deg	[env.py: 1082]
+05/15 04:27:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.102m	[env.py: 1086]
+05/15 04:27:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:27:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:27:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:27:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:27:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:27:58 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:27:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:27:58 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 04:27:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:27:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:27:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:28:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:28:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 04:28:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 04:28:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 04:28:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:28:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:28:04 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.388s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:28:04 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.549[deg]	[grasp_sample.py: 539]
+05/15 04:28:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:28:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:28:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:28:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.281s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:28:04 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.744[m] 118.639[deg]	[grasp_sample.py: 539]
+05/15 04:28:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:28:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:28:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:28:05 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 04:28:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:28:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:28:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:28:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:28:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:28:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:28:32 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/15 04:28:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 04:28:32 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 04:28:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:28:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:28:34 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.317s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:28:34 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.057[m] 10.101[deg]	[grasp_sample.py: 539]
+05/15 04:28:36 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 04:28:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:28:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:28:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:28:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:28:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:28:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:28:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:28:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:28:37 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 04:28:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:28:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081486m	[env.py: 870]
+05/15 04:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:28:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.5570094  -0.05963176  0.0814858 ] yaw=-142.4deg	[env.py: 1019]
+05/15 04:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.51651607  0.00890565  0.0814858 ] yaw=-140.0deg	[env.py: 1019]
+05/15 04:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.15303783 -0.29341035  0.0814858 ] yaw=-170.3deg	[env.py: 1019]
+05/15 04:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:28:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=269.0ms, total=269.1ms	[env.py: 1075]
+05/15 04:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.557, -0.060, 0.081)	[env.py: 1079]
+05/15 04:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.4 deg	[env.py: 1082]
+05/15 04:28:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
+05/15 04:28:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:28:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:28:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:28:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:28:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:28:38 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:28:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:28:38 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 04:28:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:28:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:28:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.616s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:28:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.645[m] 55.305[deg]	[grasp_sample.py: 539]
+05/15 04:28:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:28:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:28:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:28:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:29:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:29:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:29:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:29:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:29:23 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 04:29:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:29:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:29:45 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[pipeline.py: 1174]
+05/15 04:29:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/15 04:29:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 04:29:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:29:52 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 04:29:52 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=False episode_total=1.09s:
+  episode_total: mean=68.04s, total=136.08s, count=2, min=3090.6ms, max=132989.5ms
+  sensor_polling: mean=402.0ms, total=120.59s, count=300, min=363.8ms, max=843.0ms
+  physics_step: mean=23.6ms, total=7.07s, count=300, min=16.9ms, max=35.7ms
+  task_sampling: mean=542.6ms, total=1.09s, count=2, min=480.6ms, max=604.6ms
+  task_specific_sample: mean=539.2ms, total=1.08s, count=2, min=477.6ms, max=600.7ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.1ms, max=2.5ms
+  mj_forward_sync: mean=457.8us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=15.1us, 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 04:29:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:29:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:29:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:29:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:29:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:29:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:29:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:29:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:29:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:29:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 04:29:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:29:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033745m	[env.py: 870]
+05/15 04:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:29:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.60533073 -0.16217728  0.03374469] yaw=-152.1deg	[env.py: 1019]
+05/15 04:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.09057596 -1.06081547  0.03374469] yaw=170.5deg	[env.py: 1019]
+05/15 04:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.53613213 -0.11293545  0.03374469] yaw=-99.4deg	[env.py: 1019]
+05/15 04:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:29:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.2ms, total=167.2ms	[env.py: 1075]
+05/15 04:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.605, -0.162, 0.034)	[env.py: 1079]
+05/15 04:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.1 deg	[env.py: 1082]
+05/15 04:29:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m	[env.py: 1086]
+05/15 04:29:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:29:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:29:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:29:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:29:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:29:54 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:29:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:29:54 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 04:29:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:29:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:29:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.599s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:29:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.395[m] 89.083[deg]	[grasp_sample.py: 539]
+05/15 04:29:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:29:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:29:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:29:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 04:29:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:29:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[save_utils.py: 785]
+05/15 04:29:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 13.88s (batch: 3.30s, save: 10.58s)	[pipeline.py: 300]
+05/15 04:29:59 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.90s:
+  episode_total: mean=85.71s, total=171.42s, count=2, min=2598.1ms, max=168819.7ms
+  sensor_polling: mean=399.5ms, total=119.86s, count=300, min=367.7ms, max=755.8ms
+  save_trajectories: mean=10.58s, total=10.58s, count=1, min=10582.9ms, max=10582.9ms
+  physics_step: mean=23.6ms, total=7.08s, count=300, min=16.8ms, max=33.0ms
+  save_batch_prep: mean=3.30s, total=3.30s, count=1, min=3296.1ms, max=3296.1ms
+  task_sampling: mean=449.9ms, total=899.9ms, count=2, min=447.0ms, max=452.9ms
+  task_specific_sample: mean=446.3ms, total=892.6ms, count=2, min=443.2ms, max=449.5ms
+  scene_randomize: mean=1.4ms, total=2.9ms, count=2, min=1.3ms, max=1.5ms
+  mj_forward_sync: mean=456.4us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 04:30:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:30:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:30:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:30:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:30:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:30:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:30:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:30:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:30:01 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 04:30:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:30:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.085m, effective arm-mount z=0.775m (base_body_z=-0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.085297m	[env.py: 870]
+05/15 04:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:30:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.06124453 -0.46433116 -0.08529667] yaw=-139.5deg	[env.py: 1019]
+05/15 04:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.44230805 -0.16642877 -0.08529667] yaw=-138.2deg	[env.py: 1019]
+05/15 04:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:30:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=175.8ms, total=175.8ms	[env.py: 1075]
+05/15 04:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.061, -0.464, -0.085)	[env.py: 1079]
+05/15 04:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.5 deg	[env.py: 1082]
+05/15 04:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.072m	[env.py: 1086]
+05/15 04:30:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:30:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:30:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:30:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:30:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:30:01 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:30:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:30:01 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 04:30:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:30:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:30:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.172s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:30:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.836[m] 90.520[deg]	[grasp_sample.py: 539]
+05/15 04:30:05 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 04:30:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:30:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:30:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:30:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:30:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:30:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:30:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:30:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:30:06 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 04:30:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:30:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.067m, effective arm-mount z=0.927m (base_body_z=0.067m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067130m	[env.py: 870]
+05/15 04:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:30:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 154.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 124.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:30:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 140.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:30:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=149.1ms, total=149.2ms	[env.py: 1105]
+05/15 04:30:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 302]
+05/15 04:30:06 ERROR: [Worker 0] Worker 0 house 1 episode 13 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/15 04:30:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:30:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:30:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:30:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:30:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:30:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:30:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:30:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:30:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 04:30:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:30:08 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 04:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.097653m	[env.py: 870]
+05/15 04:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:30:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 129.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.20632208 -1.20788848 -0.09765314] yaw=160.6deg	[env.py: 1019]
+05/15 04:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.37003371  0.12992628 -0.09765314] yaw=-142.4deg	[env.py: 1019]
+05/15 04:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 130.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.23352785 -0.99130397 -0.09765314] yaw=193.6deg	[env.py: 1019]
+05/15 04:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:30:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=179.4ms, total=179.4ms	[env.py: 1075]
+05/15 04:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.206, -1.208, -0.098)	[env.py: 1079]
+05/15 04:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.6 deg	[env.py: 1082]
+05/15 04:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m	[env.py: 1086]
+05/15 04:30:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:30:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:30:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:30:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:30:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:30:08 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:30:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:30:08 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 04:30:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:30:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:30:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.058s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:30:10 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.636[m] 92.174[deg]	[grasp_sample.py: 539]
+05/15 04:30:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:30:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:30:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:30:16 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 04:30:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:30:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:30:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:30:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:30:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:30:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:30:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:30:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:30:38 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[pipeline.py: 1174]
+05/15 04:30:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 04:30:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 04:30:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:30:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:30:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 04:30:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 04:30:40 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 04:30:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:30:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:30:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:30:43 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.598s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:30:43 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.557[deg]	[grasp_sample.py: 539]
+05/15 04:30:44 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 04:30:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:30:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:30:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:30:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:30:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:30:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:30:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:30:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:30:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 04:30:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:30:45 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 04:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.090157m	[env.py: 870]
+05/15 04:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:30:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.10790984 -0.79846686 -0.09015654] yaw=-190.3deg	[env.py: 1019]
+05/15 04:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.07112086 -0.97049096 -0.09015654] yaw=187.4deg	[env.py: 1019]
+05/15 04:30:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.1257049  -0.7124432  -0.09015654] yaw=-176.9deg	[env.py: 1019]
+05/15 04:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:30:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=229.1ms, total=229.1ms	[env.py: 1075]
+05/15 04:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.108, -0.798, -0.090)	[env.py: 1079]
+05/15 04:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -190.3 deg	[env.py: 1082]
+05/15 04:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.967m	[env.py: 1086]
+05/15 04:30:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:30:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:30:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:30:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:30:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:30:46 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:30:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:30:46 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 04:30:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:30:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:30:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.826s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:30:47 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.466[m] 75.084[deg]	[grasp_sample.py: 539]
+05/15 04:30:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:30:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:30:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:30:48 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 04:30:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:30:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[save_utils.py: 785]
+05/15 04:30:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 14.32s (batch: 3.12s, save: 11.20s)	[pipeline.py: 300]
+05/15 04:30:53 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.53s:
+  episode_total: mean=175.28s, total=175.28s, count=1, min=175279.2ms, max=175279.2ms
+  sensor_polling: mean=403.4ms, total=121.03s, count=300, min=356.9ms, max=771.3ms
+  save_trajectories: mean=11.20s, total=11.20s, count=1, min=11199.1ms, max=11199.1ms
+  physics_step: mean=24.1ms, total=7.22s, count=300, min=16.8ms, max=60.4ms
+  save_batch_prep: mean=3.12s, total=3.12s, count=1, min=3119.4ms, max=3119.4ms
+  task_sampling: mean=525.5ms, total=525.5ms, count=1, min=525.5ms, max=525.5ms
+  task_specific_sample: mean=520.5ms, total=520.5ms, count=1, min=520.5ms, max=520.5ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=767.8us, total=0.8ms, count=1, min=0.8ms, max=0.8ms
+  policy_setup: mean=16.7us, 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 04:30:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:30:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:30:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:30:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:30:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:30:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:30:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:30:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:30:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 04:30:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:30:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035374m	[env.py: 870]
+05/15 04:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:30:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18724 free points within sampling radius	[env.py: 907]
+05/15 04:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.20718651 -1.14972217  0.03537364] yaw=168.3deg	[env.py: 1019]
+05/15 04:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.07761036 -0.44711967  0.03537364] yaw=-157.4deg	[env.py: 1019]
+05/15 04:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.29073768 -0.19831279  0.03537364] yaw=-149.4deg	[env.py: 1019]
+05/15 04:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:30:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=143.2ms, total=143.2ms	[env.py: 1075]
+05/15 04:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.207, -1.150, 0.035)	[env.py: 1079]
+05/15 04:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.3 deg	[env.py: 1082]
+05/15 04:30:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m	[env.py: 1086]
+05/15 04:30:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:30:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:30:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:30:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:30:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:30:55 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:30:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:30:55 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 04:30:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:30:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:31:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.103s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:31:01 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.633[m] 89.380[deg]	[grasp_sample.py: 539]
+05/15 04:31:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:31:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:31:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:31:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 04:31:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:31:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:31:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:31:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:31:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:31:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:31:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:31:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:31:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:31:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:31:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:31:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:31:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:31:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:31:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 04:31:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 04:31:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 04:31:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:31:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:31:41 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.279s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:31:41 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.069[deg]	[grasp_sample.py: 539]
+05/15 04:31:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:31:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:31:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:31:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:31:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:31:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:32:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:32:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:32:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:32:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:32:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:32:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:32:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:32:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:32:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:32:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:32:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:32:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 04:32:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 04:32:26 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 04:32:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:32:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.101s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:32:29 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 04:32:30 INFO: [Worker 0] Feasibility-checked 78 grasps in 3.921s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:32:30 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.056[m] 9.657[deg]	[grasp_sample.py: 539]
+05/15 04:32:31 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 04:32:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:32:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:32:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:32:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:32:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:32:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:32:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:32:33 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:32:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 04:32:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:32:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003822m	[env.py: 870]
+05/15 04:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:32:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.23844756 -0.03052112  0.00382245] yaw=-123.2deg	[env.py: 1019]
+05/15 04:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.25935726 -0.61137522  0.00382245] yaw=-183.6deg	[env.py: 1019]
+05/15 04:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.22449774 -1.20547601  0.00382245] yaw=154.9deg	[env.py: 1019]
+05/15 04:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:32:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=267.5ms, total=267.5ms	[env.py: 1075]
+05/15 04:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.238, -0.031, 0.004)	[env.py: 1079]
+05/15 04:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.2 deg	[env.py: 1082]
+05/15 04:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.147m	[env.py: 1086]
+05/15 04:32:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:32:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:32:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:32:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:32:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:32:34 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:32:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:32:34 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 04:32:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:32:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:32:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.224s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 04:32:36 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 04:32:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:32:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:32:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:32:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:32:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:32:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:32:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:32:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:32:38 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 04:32:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:32:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050928m	[env.py: 870]
+05/15 04:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:32:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.34740284  0.10135561  0.05092821] yaw=-135.2deg	[env.py: 1019]
+05/15 04:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.00766151 -1.24261656  0.05092821] yaw=185.3deg	[env.py: 1019]
+05/15 04:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 146.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.38517561 -0.04961222  0.05092821] yaw=-121.4deg	[env.py: 1019]
+05/15 04:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:32:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.1ms, total=142.2ms	[env.py: 1075]
+05/15 04:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.347, 0.101, 0.051)	[env.py: 1079]
+05/15 04:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.2 deg	[env.py: 1082]
+05/15 04:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.170m	[env.py: 1086]
+05/15 04:32:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:32:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:32:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:32:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:32:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:32:39 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:32:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:32:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 04:32:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:32:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:32:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.006s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 04:32:41 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 04:32:41 WARNING: [Worker 0] Asset Fridge_m (hash: c5ee371e5ee9c94dd64f357b5ff4cf8f) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found	[task_sampler.py: 396]
+05/15 04:32:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:32:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:32:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:32:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:32:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:32:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:32:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:32:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:32:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 04:32:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:32:43 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 04:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089246m	[env.py: 870]
+05/15 04:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:32:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.17133933 -1.30745918  0.08924564] yaw=160.3deg	[env.py: 1019]
+05/15 04:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 141.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.27703236 -1.05037536  0.08924564] yaw=174.1deg	[env.py: 1019]
+05/15 04:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.10014297 -0.61284483  0.08924564] yaw=-156.4deg	[env.py: 1019]
+05/15 04:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:32:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.4ms, total=147.4ms	[env.py: 1075]
+05/15 04:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.171, -1.307, 0.089)	[env.py: 1079]
+05/15 04:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.3 deg	[env.py: 1082]
+05/15 04:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m	[env.py: 1086]
+05/15 04:32:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:32:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:32:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:32:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:32:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:32:43 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:32:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:32:43 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 04:32:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:32:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:32:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.569s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:32:47 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.710[m] 122.890[deg]	[grasp_sample.py: 539]
+05/15 04:32:48 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 04:32:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:32:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:32:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:32:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:32:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:32:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:32:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:32:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:32:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 04:32:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:32:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046530m	[env.py: 870]
+05/15 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:32:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.01446926 -0.85221936  0.04652958] yaw=152.1deg	[env.py: 1019]
+05/15 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.02626004 -0.83465942  0.04652958] yaw=206.7deg	[env.py: 1019]
+05/15 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.08284689 -1.09572261  0.04652958] yaw=147.3deg	[env.py: 1019]
+05/15 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:32:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=97.8ms, total=97.9ms	[env.py: 1075]
+05/15 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.014, -0.852, 0.047)	[env.py: 1079]
+05/15 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.1 deg	[env.py: 1082]
+05/15 04:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.060m	[env.py: 1086]
+05/15 04:32:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:32:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:32:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:32:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:32:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:32:50 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:32:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:32:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 04:32:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:32:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:32:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.376s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:32:52 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.707[m] 88.869[deg]	[grasp_sample.py: 539]
+05/15 04:32:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:32:52 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[pipeline.py: 1174]
+05/15 04:32:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/15 04:32:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 04:32:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:32:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:33:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:33:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[save_utils.py: 785]
+05/15 04:33:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 14.01s (batch: 3.32s, save: 10.70s)	[pipeline.py: 300]
+05/15 04:33:07 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.86s:
+  episode_total: mean=61.16s, total=183.49s, count=3, min=159.0ms, max=179330.0ms
+  sensor_polling: mean=426.9ms, total=128.07s, count=300, min=382.0ms, max=694.0ms
+  save_trajectories: mean=10.70s, total=10.70s, count=1, min=10696.7ms, max=10696.7ms
+  physics_step: mean=25.8ms, total=7.74s, count=300, min=21.4ms, max=35.8ms
+  save_batch_prep: mean=3.32s, total=3.32s, count=1, min=3317.4ms, max=3317.4ms
+  task_specific_sample: mean=336.7ms, total=1.01s, count=3, min=154.6ms, max=435.5ms
+  task_sampling: mean=430.9ms, total=861.9ms, count=2, min=424.0ms, max=437.9ms
+  task_sampling_failed: mean=159.0ms, total=159.0ms, count=1, min=159.0ms, max=159.0ms
+  scene_randomize: mean=1.7ms, total=5.2ms, count=3, min=1.2ms, max=2.9ms
+  mj_forward_sync: mean=516.7us, total=1.6ms, count=3, min=0.5ms, max=0.6ms
+  policy_setup: mean=15.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 04:33:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:33:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:33:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:33:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:33:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:33:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:33:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:33:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:33:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 04:33:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:33:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.071m, effective arm-mount z=0.789m (base_body_z=-0.071m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.070793m	[env.py: 870]
+05/15 04:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:33:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 151.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.49087345 -0.14308693 -0.07079336] yaw=-129.5deg	[env.py: 1019]
+05/15 04:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.20668739 -0.271084   -0.07079336] yaw=-137.5deg	[env.py: 1019]
+05/15 04:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.11703388 -0.58926557 -0.07079336] yaw=-177.7deg	[env.py: 1019]
+05/15 04:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:33:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.3ms, total=133.3ms	[env.py: 1075]
+05/15 04:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.491, -0.143, -0.071)	[env.py: 1079]
+05/15 04:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.5 deg	[env.py: 1082]
+05/15 04:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m	[env.py: 1086]
+05/15 04:33:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:33:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:33:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:33:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:33:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:33:09 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:33:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:33:09 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 04:33:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:33:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:33:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.272s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:33:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.541[m] 71.467[deg]	[grasp_sample.py: 539]
+05/15 04:33:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:33:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:33:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:33:12 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 04:33:13 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 04:33:35 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[pipeline.py: 1174]
+05/15 04:33:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 04:33:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 04:33:36 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[pipeline.py: 1174]
+05/15 04:33:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 04:33:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 04:33:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:33:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[save_utils.py: 785]
+05/15 04:33:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 13.63s (batch: 3.04s, save: 10.59s)	[pipeline.py: 300]
+05/15 04:33:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:33:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[save_utils.py: 785]
+05/15 04:33:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 14.15s (batch: 3.34s, save: 10.81s)	[pipeline.py: 300]
+05/15 04:33:50 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.43s:
+  episode_total: mean=175.59s, total=175.59s, count=1, min=175592.4ms, max=175592.4ms
+  sensor_polling: mean=407.6ms, total=122.28s, count=300, min=376.3ms, max=732.2ms
+  save_trajectories: mean=10.59s, total=10.59s, count=1, min=10591.4ms, max=10591.4ms
+  physics_step: mean=23.7ms, total=7.12s, count=300, min=16.9ms, max=65.9ms
+  save_batch_prep: mean=3.04s, total=3.04s, count=1, min=3041.8ms, max=3041.8ms
+  task_sampling: mean=433.6ms, total=433.6ms, count=1, min=433.6ms, max=433.6ms
+  task_specific_sample: mean=428.5ms, total=428.5ms, count=1, min=428.5ms, max=428.5ms
+  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  mj_forward_sync: mean=601.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=24.2us, 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 04:33:50 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.93s:
+  episode_total: mean=116.14s, total=464.58s, count=4, min=2887.8ms, max=184583.8ms
+  sensor_polling: mean=435.4ms, total=358.30s, count=823, min=382.8ms, max=761.0ms
+  physics_step: mean=25.8ms, total=21.26s, count=823, min=16.8ms, max=49.8ms
+  save_trajectories: mean=10.81s, total=10.81s, count=1, min=10813.1ms, max=10813.1ms
+  save_batch_prep: mean=3.34s, total=3.34s, count=1, min=3338.4ms, max=3338.4ms
+  task_sampling: mean=483.0ms, total=1.93s, count=4, min=436.5ms, max=569.6ms
+  task_specific_sample: mean=479.5ms, total=1.92s, count=4, min=433.5ms, max=566.6ms
+  scene_randomize: mean=1.7ms, total=6.7ms, count=4, min=1.1ms, max=2.8ms
+  mj_forward_sync: mean=454.2us, total=1.8ms, count=4, min=0.4ms, max=0.5ms
+  policy_setup: mean=14.2us, 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 04:33:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:33:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:33:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:33:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:33:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:33:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:33:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:33:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:33:51 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 04:33:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:33:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012893m	[env.py: 870]
+05/15 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:33:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:33:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:33:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:33:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:33:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:33:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:33:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:33:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:33:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:33:51 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 04:33:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:33:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026908m	[env.py: 870]
+05/15 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:33:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18724 free points within sampling radius	[env.py: 907]
+05/15 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 131.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 157.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.50096791  0.01725576  0.02690832] yaw=-98.7deg	[env.py: 1019]
+05/15 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.0376388  -0.49715455  0.02690832] yaw=-183.2deg	[env.py: 1019]
+05/15 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.18434007 -0.93668832  0.01289283] yaw=171.9deg	[env.py: 1019]
+05/15 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.209958   -1.26105281  0.02690832] yaw=127.9deg	[env.py: 1019]
+05/15 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:33:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=107.7ms, total=107.7ms	[env.py: 1075]
+05/15 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.501, 0.017, 0.027)	[env.py: 1079]
+05/15 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -98.7 deg	[env.py: 1082]
+05/15 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.011m	[env.py: 1086]
+05/15 04:33:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:33:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:33:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:33:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.06505806 -0.71530232  0.01289283] yaw=-193.8deg	[env.py: 1019]
+05/15 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.01629875 -0.92133817  0.01289283] yaw=201.0deg	[env.py: 1019]
+05/15 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:33:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=193.3ms, total=193.4ms	[env.py: 1075]
+05/15 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.184, -0.937, 0.013)	[env.py: 1079]
+05/15 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.9 deg	[env.py: 1082]
+05/15 04:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.898m	[env.py: 1086]
+05/15 04:33:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:33:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:33:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:33:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:33:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:33:52 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:33:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:33:52 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:33:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:33:52 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 04:33:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:33:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:33:52 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 04:33:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:33:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:33:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:33:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.908s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:33:53 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.509[m] 85.359[deg]	[grasp_sample.py: 539]
+05/15 04:33:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:33:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:33:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:33:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 04:33:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.298s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:33:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.592[m] 89.877[deg]	[grasp_sample.py: 539]
+05/15 04:33:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:33:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:33:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:33:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 04:33:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:33:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:33:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:34:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:34:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:34:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:34:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:34:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:34:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:34:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:34:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:34:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 04:34:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 04:34:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 04:34:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:34:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:34:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:34:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 8.457s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:34:17 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.079[m] 11.962[deg]	[grasp_sample.py: 539]
+05/15 04:34:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:34:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:34:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:34:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:34:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:34:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:34:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:34:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:34:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:34:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:34:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:34:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:34:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:34:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:34:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:34:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:34:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:34:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:34:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 04:34:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 04:34:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 04:34:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:34:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 86 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:35:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:35:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:35:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:35:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:35:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:35:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:35:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:35:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:35:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 04:35:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 04:35:11 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 04:35:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:35:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:35:14 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.286s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:35:14 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.315[deg]	[grasp_sample.py: 539]
+05/15 04:35:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:35:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:35:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:35:17 INFO: [Worker 0] Feasibility-checked 86 grasps in 24.292s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:35:17 INFO: [Worker 0] Feasible grasp found 189 (originally 74): w/ 0.176[m] 156.586[deg]	[grasp_sample.py: 539]
+05/15 04:35:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:35:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:35:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:35:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:35:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:35:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:35:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:35:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:35:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:35:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:35:28 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 04:35:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:35:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:35:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 04:35:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 04:35:31 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 04:35:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:35:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 86 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:35:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:35:35 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 04:35:48 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[pipeline.py: 1174]
+05/15 04:35:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 04:35:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 04:35:53 INFO: [Worker 0] Feasibility-checked 86 grasps in 21.991s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:35:53 INFO: [Worker 0] Feasible grasp found 225 (originally 110): w/ 0.241[m] 143.235[deg]	[grasp_sample.py: 539]
+05/15 04:35:54 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 04:35:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:35:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:35:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:35:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:35:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:35:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:35:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:35:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:35:56 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 04:35:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:35:56 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 04:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.088443m	[env.py: 870]
+05/15 04:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:35:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18724 free points within sampling radius	[env.py: 907]
+05/15 04:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 139.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 155.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.19832566 -0.93158772 -0.0884433 ] yaw=186.1deg	[env.py: 1019]
+05/15 04:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.39253391 -0.12263091 -0.0884433 ] yaw=-108.7deg	[env.py: 1019]
+05/15 04:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:35:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=199.9ms, total=200.0ms	[env.py: 1075]
+05/15 04:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.198, -0.932, -0.088)	[env.py: 1079]
+05/15 04:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 186.1 deg	[env.py: 1082]
+05/15 04:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.884m	[env.py: 1086]
+05/15 04:35:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:35:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:35:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:35:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:35:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:35:56 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:35:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:35:56 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 04:35:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:35:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:35:57 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[pipeline.py: 1174]
+05/15 04:35:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/15 04:35:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 04:35:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.221s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:35:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.556[m] 112.122[deg]	[grasp_sample.py: 539]
+05/15 04:35:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:35:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:35:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:35:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:35:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 04:36:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:36:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:36:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[save_utils.py: 785]
+05/15 04:36:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 13.84s (batch: 2.74s, save: 11.09s)	[pipeline.py: 300]
+05/15 04:36:02 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=2.10s:
+  episode_total: mean=72.30s, total=361.50s, count=5, min=2531.2ms, max=192706.2ms
+  sensor_polling: mean=401.4ms, total=235.60s, count=587, min=369.1ms, max=817.5ms
+  physics_step: mean=23.6ms, total=13.83s, count=587, min=15.9ms, max=50.9ms
+  save_trajectories: mean=11.09s, total=11.09s, count=1, min=11093.9ms, max=11093.9ms
+  save_batch_prep: mean=2.74s, total=2.74s, count=1, min=2744.9ms, max=2744.9ms
+  task_sampling: mean=420.2ms, total=2.10s, count=5, min=380.0ms, max=523.5ms
+  task_specific_sample: mean=416.9ms, total=2.08s, count=5, min=376.3ms, max=518.7ms
+  scene_randomize: mean=1.4ms, total=7.2ms, count=5, min=1.2ms, max=1.8ms
+  mj_forward_sync: mean=504.5us, total=2.5ms, count=5, min=0.4ms, max=0.6ms
+  policy_setup: mean=13.8us, 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 04:36:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:36:03 WARNING: [Worker 0] No trajectory data to save for chunk_111	[pipeline.py: 234]
+05/15 04:36:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 04:36:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 04:36:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:36:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:36:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:36:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:36:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:36:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[save_utils.py: 785]
+05/15 04:36:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 13.86s (batch: 3.18s, save: 10.68s)	[pipeline.py: 300]
+05/15 04:36:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:36:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 04:36:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 04:36:11 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 04:36:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:36:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:36:11 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.42s:
+  episode_total: mean=182.84s, total=182.84s, count=1, min=182841.4ms, max=182841.4ms
+  sensor_polling: mean=404.3ms, total=121.28s, count=300, min=370.7ms, max=733.4ms
+  save_trajectories: mean=10.68s, total=10.68s, count=1, min=10684.5ms, max=10684.5ms
+  physics_step: mean=24.5ms, total=7.36s, count=300, min=16.8ms, max=40.2ms
+  save_batch_prep: mean=3.18s, total=3.18s, count=1, min=3176.2ms, max=3176.2ms
+  task_sampling: mean=419.4ms, total=419.4ms, count=1, min=419.4ms, max=419.4ms
+  task_specific_sample: mean=415.2ms, total=415.2ms, count=1, min=415.2ms, max=415.2ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=515.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.1us, 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 04:36:12 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.765s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:36:12 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.059[m] 2.194[deg]	[grasp_sample.py: 539]
+05/15 04:36:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:36:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:36:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:36:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:36:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:36:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:36:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:36:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:36:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:36:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 04:36:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:36:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090161m	[env.py: 870]
+05/15 04:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:36:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:36:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:36:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.17837765 -0.50772973  0.09016148] yaw=-174.7deg	[env.py: 1019]
+05/15 04:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.03710778 -0.45127301  0.09016148] yaw=-183.6deg	[env.py: 1019]
+05/15 04:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:36:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=167.2ms, total=167.2ms	[env.py: 1075]
+05/15 04:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.178, -0.508, 0.090)	[env.py: 1079]
+05/15 04:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.7 deg	[env.py: 1082]
+05/15 04:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m	[env.py: 1086]
+05/15 04:36:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:36:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:36:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:36:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:36:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:36:13 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:36:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:36:13 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 04:36:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:36:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:36:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.858s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:36:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.516[m] 110.017[deg]	[grasp_sample.py: 539]
+05/15 04:36:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:36:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:36:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:36:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 04:36:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:36:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/debug/chunk_111	[save_utils.py: 785]
+05/15 04:36:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 13.15s (batch: 2.66s, save: 10.49s)	[pipeline.py: 300]
+05/15 04:36:17 INFO: [Worker 0] Worker 0 completed house 1: 6/8 successful episodes	[pipeline.py: 1323]
+05/15 04:36:17 INFO: [Worker 0] [PROFILE] House 1 complete: 6/8 successful, 8 episodes, total_time=3222.42s
+  House averages:
+  episode_total: mean=102.04s, total=1836.67s, count=18, min=2531.2ms, max=197133.8ms
+  sensor_polling: mean=404.3ms, total=1206.74s, count=2985, min=363.8ms, max=843.0ms
+  physics_step: mean=24.0ms, total=71.67s, count=2985, min=15.5ms, max=69.5ms
+  save_trajectories: mean=10.81s, total=64.89s, count=6, min=10316.2ms, max=11306.2ms
+  save_batch_prep: mean=3.00s, total=17.99s, count=6, min=2744.9ms, max=3248.8ms
+  task_sampling: mean=576.7ms, total=10.38s, count=18, min=329.6ms, max=3094.5ms
+  task_specific_sample: mean=420.8ms, total=7.57s, count=18, min=326.3ms, max=626.6ms
+  scene_load: mean=2.74s, total=2.74s, count=1, min=2742.7ms, max=2742.7ms
+  scene_env_create: mean=1.69s, total=1.69s, count=1, min=1687.7ms, max=1687.7ms
+  scene_compile: mean=880.4ms, total=880.4ms, count=1, min=880.4ms, max=880.4ms
+  compile_mujoco: mean=624.2ms, total=624.2ms, count=1, min=624.2ms, max=624.2ms
+  compile_xml_load: mean=185.8ms, total=185.8ms, count=1, min=185.8ms, max=185.8ms
+  scene_init: mean=117.1ms, total=117.1ms, count=1, min=117.1ms, max=117.1ms
+  scene_asset_install: mean=57.3ms, total=57.3ms, count=1, min=57.3ms, max=57.3ms
+  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=38.8ms, total=38.8ms, count=1, min=38.8ms, max=38.8ms
+  scene_randomize: mean=1.8ms, total=32.4ms, count=18, min=1.1ms, max=3.1ms
+  asset_install_objects: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms
+  mj_forward_sync: mean=505.0us, total=9.1ms, count=18, min=0.4ms, max=0.8ms
+  compile_robot_add: mean=7.8ms, total=7.8ms, count=1, min=7.8ms, max=7.8ms
+  asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms
+  policy_setup: mean=17.2us, 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 04:36:17 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/15 04:36:17 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 8 episodes, total_time=3222.42s
+  Worker averages:
+  episode_total: mean=102.04s, total=1836.67s, count=18, min=2531.2ms, max=197133.8ms
+  sensor_polling: mean=404.3ms, total=1206.74s, count=2985, min=363.8ms, max=843.0ms
+  physics_step: mean=24.0ms, total=71.67s, count=2985, min=15.5ms, max=69.5ms
+  save_trajectories: mean=10.81s, total=64.89s, count=6, min=10316.2ms, max=11306.2ms
+  save_batch_prep: mean=3.00s, total=17.99s, count=6, min=2744.9ms, max=3248.8ms
+  task_sampling: mean=576.7ms, total=10.38s, count=18, min=329.6ms, max=3094.5ms
+  task_specific_sample: mean=420.8ms, total=7.57s, count=18, min=326.3ms, max=626.6ms
+  scene_load: mean=2.74s, total=2.74s, count=1, min=2742.7ms, max=2742.7ms
+  scene_env_create: mean=1.69s, total=1.69s, count=1, min=1687.7ms, max=1687.7ms
+  scene_compile: mean=880.4ms, total=880.4ms, count=1, min=880.4ms, max=880.4ms
+  compile_mujoco: mean=624.2ms, total=624.2ms, count=1, min=624.2ms, max=624.2ms
+  compile_xml_load: mean=185.8ms, total=185.8ms, count=1, min=185.8ms, max=185.8ms
+  scene_init: mean=117.1ms, total=117.1ms, count=1, min=117.1ms, max=117.1ms
+  scene_asset_install: mean=57.3ms, total=57.3ms, count=1, min=57.3ms, max=57.3ms
+  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=38.8ms, total=38.8ms, count=1, min=38.8ms, max=38.8ms
+  scene_randomize: mean=1.8ms, total=32.4ms, count=18, min=1.1ms, max=3.1ms
+  asset_install_objects: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms
+  mj_forward_sync: mean=505.0us, total=9.1ms, count=18, min=0.4ms, max=0.8ms
+  compile_robot_add: mean=7.8ms, total=7.8ms, count=1, min=7.8ms, max=7.8ms
+  asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms
+  policy_setup: mean=17.2us, 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 04:36:19 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/15 04:36:19 INFO: Success count: 6, Total count: 8	[pipeline.py: 1491]
+05/15 04:36:19 INFO: Success rate: 75.00%	[pipeline.py: 1492]
+05/15 04:36:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:36:21 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 04:36:45 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[pipeline.py: 1174]
+05/15 04:36:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 04:36:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 04:36:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:36:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:36:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:36:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:36:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[save_utils.py: 785]
+05/15 04:36:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 13.66s (batch: 3.07s, save: 10.59s)	[pipeline.py: 300]
+05/15 04:36:59 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.48s:
+  episode_total: mean=187.91s, total=187.91s, count=1, min=187905.3ms, max=187905.3ms
+  sensor_polling: mean=419.1ms, total=125.73s, count=300, min=394.0ms, max=721.4ms
+  save_trajectories: mean=10.59s, total=10.59s, count=1, min=10590.3ms, max=10590.3ms
+  physics_step: mean=24.5ms, total=7.34s, count=300, min=15.7ms, max=40.3ms
+  save_batch_prep: mean=3.07s, total=3.07s, count=1, min=3066.8ms, max=3066.8ms
+  task_sampling: mean=480.8ms, total=480.8ms, count=1, min=480.8ms, max=480.8ms
+  task_specific_sample: mean=477.5ms, total=477.5ms, count=1, min=477.5ms, max=477.5ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=450.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=31.6us, 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 04:37:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:37:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:37:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:37:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:37:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:37:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:37:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:37:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:37:00 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 04:37:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:37:00 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 04:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.041434m	[env.py: 870]
+05/15 04:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:37:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 125.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.30873323 -0.02421209 -0.04143351] yaw=-156.6deg	[env.py: 1019]
+05/15 04:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.06651866 -0.37430705 -0.04143351] yaw=-165.3deg	[env.py: 1019]
+05/15 04:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.30954902 -0.21054799 -0.04143351] yaw=-131.2deg	[env.py: 1019]
+05/15 04:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:37:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.7ms, total=164.7ms	[env.py: 1075]
+05/15 04:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.309, -0.024, -0.041)	[env.py: 1079]
+05/15 04:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.6 deg	[env.py: 1082]
+05/15 04:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.101m	[env.py: 1086]
+05/15 04:37:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:37:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:37:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:37:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:37:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:37:01 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:37:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:37:01 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 04:37:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:37:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:37:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:37:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.617s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 04:37:04 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 04:37:04 WARNING: [Worker 0] Asset Fridge_m (hash: c5ee371e5ee9c94dd64f357b5ff4cf8f) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found	[task_sampler.py: 396]
+05/15 04:37:05 WARNING: [Worker 0] No trajectory data to save for chunk_111	[pipeline.py: 234]
+05/15 04:37:05 WARNING: [Worker 0] No trajectory data to save for chunk_111	[pipeline.py: 234]
+05/15 04:37:05 INFO: [Worker 0] Worker 0 completed house 1: 7/8 successful episodes	[pipeline.py: 1323]
+05/15 04:37:05 INFO: [Worker 0] [PROFILE] House 1 complete: 7/8 successful, 8 episodes, total_time=3469.61s
+  House averages:
+  episode_total: mean=105.88s, total=1905.88s, count=18, min=2767.0ms, max=189195.3ms
+  sensor_polling: mean=427.7ms, total=1360.37s, count=3181, min=358.1ms, max=775.6ms
+  physics_step: mean=25.3ms, total=80.34s, count=3181, min=15.7ms, max=49.8ms
+  save_trajectories: mean=10.61s, total=74.25s, count=7, min=10401.7ms, max=10813.1ms
+  save_batch_prep: mean=3.15s, total=22.03s, count=7, min=2921.4ms, max=3402.2ms
+  task_sampling: mean=625.2ms, total=11.25s, count=18, min=354.8ms, max=3417.8ms
+  task_specific_sample: mean=452.5ms, total=8.14s, count=18, min=351.3ms, max=671.0ms
+  scene_load: mean=3.05s, total=3.05s, count=1, min=3045.9ms, max=3045.9ms
+  scene_env_create: mean=1.76s, total=1.76s, count=1, min=1755.9ms, max=1755.9ms
+  scene_compile: mean=1.12s, total=1.12s, count=1, min=1120.4ms, max=1120.4ms
+  compile_mujoco: mean=640.4ms, total=640.4ms, count=1, min=640.4ms, max=640.4ms
+  compile_xml_load: mean=399.2ms, total=399.2ms, count=1, min=399.2ms, max=399.2ms
+  scene_init: mean=116.2ms, total=116.2ms, count=1, min=116.2ms, max=116.2ms
+  compile_aux_objects: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms
+  compile_aux_policy_objects: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms
+  scene_asset_install: mean=53.2ms, total=53.2ms, count=1, min=53.2ms, max=53.2ms
+  asset_install_grasps: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms
+  scene_randomize: mean=1.8ms, total=33.1ms, count=18, min=1.1ms, max=3.1ms
+  compile_robot_add: mean=18.0ms, total=18.0ms, count=1, min=18.0ms, max=18.0ms
+  asset_install_objects: mean=10.8ms, total=10.8ms, count=1, min=10.8ms, max=10.8ms
+  mj_forward_sync: mean=488.4us, total=8.8ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_scene: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms
+  policy_setup: mean=17.7us, 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 04:37:05 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/15 04:37:05 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 8 episodes, total_time=3469.61s
+  Worker averages:
+  episode_total: mean=105.88s, total=1905.88s, count=18, min=2767.0ms, max=189195.3ms
+  sensor_polling: mean=427.7ms, total=1360.37s, count=3181, min=358.1ms, max=775.6ms
+  physics_step: mean=25.3ms, total=80.34s, count=3181, min=15.7ms, max=49.8ms
+  save_trajectories: mean=10.61s, total=74.25s, count=7, min=10401.7ms, max=10813.1ms
+  save_batch_prep: mean=3.15s, total=22.03s, count=7, min=2921.4ms, max=3402.2ms
+  task_sampling: mean=625.2ms, total=11.25s, count=18, min=354.8ms, max=3417.8ms
+  task_specific_sample: mean=452.5ms, total=8.14s, count=18, min=351.3ms, max=671.0ms
+  scene_load: mean=3.05s, total=3.05s, count=1, min=3045.9ms, max=3045.9ms
+  scene_env_create: mean=1.76s, total=1.76s, count=1, min=1755.9ms, max=1755.9ms
+  scene_compile: mean=1.12s, total=1.12s, count=1, min=1120.4ms, max=1120.4ms
+  compile_mujoco: mean=640.4ms, total=640.4ms, count=1, min=640.4ms, max=640.4ms
+  compile_xml_load: mean=399.2ms, total=399.2ms, count=1, min=399.2ms, max=399.2ms
+  scene_init: mean=116.2ms, total=116.2ms, count=1, min=116.2ms, max=116.2ms
+  compile_aux_objects: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms
+  compile_aux_policy_objects: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms
+  scene_asset_install: mean=53.2ms, total=53.2ms, count=1, min=53.2ms, max=53.2ms
+  asset_install_grasps: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms
+  scene_randomize: mean=1.8ms, total=33.1ms, count=18, min=1.1ms, max=3.1ms
+  compile_robot_add: mean=18.0ms, total=18.0ms, count=1, min=18.0ms, max=18.0ms
+  asset_install_objects: mean=10.8ms, total=10.8ms, count=1, min=10.8ms, max=10.8ms
+  mj_forward_sync: mean=488.4us, total=8.8ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_scene: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms
+  policy_setup: mean=17.7us, 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 04:37:08 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/15 04:37:08 INFO: Success count: 7, Total count: 8	[pipeline.py: 1491]
+05/15 04:37:08 INFO: Success rate: 87.50%	[pipeline.py: 1492]
+05/15 04:37:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:37:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:38:06 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 04:38:24 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 04:38:27 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[pipeline.py: 1174]
+05/15 04:38:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 04:38:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 04:38:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:38:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[save_utils.py: 785]
+05/15 04:38:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 14.10s (batch: 3.07s, save: 11.03s)	[pipeline.py: 300]
+05/15 04:38:42 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.91s:
+  episode_total: mean=144.47s, total=288.93s, count=2, min=122936.5ms, max=165995.9ms
+  sensor_polling: mean=388.7ms, total=165.97s, count=427, min=334.5ms, max=680.9ms
+  save_trajectories: mean=11.03s, total=11.03s, count=1, min=11028.1ms, max=11028.1ms
+  physics_step: mean=22.9ms, total=9.77s, count=427, min=16.7ms, max=33.2ms
+  save_batch_prep: mean=3.07s, total=3.07s, count=1, min=3074.2ms, max=3074.2ms
+  task_sampling: mean=454.4ms, total=908.8ms, count=2, min=382.5ms, max=526.3ms
+  task_specific_sample: mean=450.4ms, total=900.9ms, count=2, min=378.3ms, max=522.6ms
+  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.3ms, max=2.6ms
+  mj_forward_sync: mean=548.2us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=24.5us, 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 04:38:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:38:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:38:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:38:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:38:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:38:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:38:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:38:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:38:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 04:38:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:38:43 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 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048635m	[env.py: 870]
+05/15 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:38:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18724 free points within sampling radius	[env.py: 907]
+05/15 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 158.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -145.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.00955285 -1.32685231  0.04863484] yaw=146.3deg	[env.py: 1019]
+05/15 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.00826115 -0.56029382  0.04863484] yaw=-194.0deg	[env.py: 1019]
+05/15 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 94.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.2655061  -0.06557837  0.04863484] yaw=-115.8deg	[env.py: 1019]
+05/15 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:38:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=153.0ms, total=153.0ms	[env.py: 1075]
+05/15 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.010, -1.327, 0.049)	[env.py: 1079]
+05/15 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 146.3 deg	[env.py: 1082]
+05/15 04:38:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.198m	[env.py: 1086]
+05/15 04:38:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:38:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:38:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:38:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:38:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:38:43 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:38:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:38:43 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 04:38:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:38:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:38:45 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[pipeline.py: 1174]
+05/15 04:38:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/15 04:38:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 04:38:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.282s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 04:38:46 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 04:38:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:38:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:38:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:38:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:38:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:38:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:38:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:38:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:38:47 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 04:38:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:38:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.087m, effective arm-mount z=0.773m (base_body_z=-0.087m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.086692m	[env.py: 870]
+05/15 04:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:38:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18724 free points within sampling radius	[env.py: 907]
+05/15 04:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.38270943 -0.16309567 -0.08669166] yaw=-158.1deg	[env.py: 1019]
+05/15 04:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.25128842 -0.63493766 -0.08669166] yaw=-166.7deg	[env.py: 1019]
+05/15 04:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:38:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=257.1ms, total=257.2ms	[env.py: 1075]
+05/15 04:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.383, -0.163, -0.087)	[env.py: 1079]
+05/15 04:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.1 deg	[env.py: 1082]
+05/15 04:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m	[env.py: 1086]
+05/15 04:38:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:38:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:38:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:38:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:38:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:38:48 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:38:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:38:48 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 04:38:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:38:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:38:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.358s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:38:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.534[m] 67.890[deg]	[grasp_sample.py: 539]
+05/15 04:38:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:38:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:38:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:38:50 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 04:38:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:38:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[save_utils.py: 785]
+05/15 04:38:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 13.56s (batch: 3.12s, save: 10.44s)	[pipeline.py: 300]
+05/15 04:38:59 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.41s:
+  episode_total: mean=166.86s, total=166.86s, count=1, min=166856.0ms, max=166856.0ms
+  sensor_polling: mean=401.5ms, total=120.45s, count=300, min=368.0ms, max=691.7ms
+  save_trajectories: mean=10.44s, total=10.44s, count=1, min=10440.1ms, max=10440.1ms
+  physics_step: mean=24.2ms, total=7.26s, count=300, min=16.8ms, max=48.1ms
+  save_batch_prep: mean=3.12s, total=3.12s, count=1, min=3122.9ms, max=3122.9ms
+  task_sampling: mean=412.9ms, total=412.9ms, count=1, min=412.9ms, max=412.9ms
+  task_specific_sample: mean=408.8ms, total=408.8ms, count=1, min=408.8ms, max=408.8ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=469.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.3us, 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 04:39:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:39:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:39:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:39:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:39:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:39:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:39:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:39:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:39:01 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 04:39:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:39:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.066m, effective arm-mount z=0.794m (base_body_z=-0.066m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.066041m	[env.py: 870]
+05/15 04:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:39:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 04:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.23041343 -0.41598322 -0.0660407 ] yaw=-154.9deg	[env.py: 1019]
+05/15 04:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.07463305 -1.16237471 -0.0660407 ] yaw=148.9deg	[env.py: 1019]
+05/15 04:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -80.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.14574285 -0.70135588 -0.0660407 ] yaw=-186.9deg	[env.py: 1019]
+05/15 04:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:39:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=226.5ms, total=226.5ms	[env.py: 1075]
+05/15 04:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.230, -0.416, -0.066)	[env.py: 1079]
+05/15 04:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.9 deg	[env.py: 1082]
+05/15 04:39:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m	[env.py: 1086]
+05/15 04:39:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:39:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:39:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:39:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:39:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:39:01 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:39:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:39:01 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 04:39:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:39:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:39:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.079s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:39:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.648[m] 62.917[deg]	[grasp_sample.py: 539]
+05/15 04:39:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:39:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:39:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:39:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:39:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:39:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:39:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:40:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:40:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:40:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:40:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:40:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:40:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:40:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:40:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:40:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:40:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 04:40:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 04:40:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 04:40:38 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 04:40:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:40:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:40:41 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.478s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:40:41 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.623[deg]	[grasp_sample.py: 539]
+05/15 04:40:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:40:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:40:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:40:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:40:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:41:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:41:06 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 04:41:09 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 04:41:28 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[pipeline.py: 1174]
+05/15 04:41:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 04:41:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 04:41:31 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[pipeline.py: 1174]
+05/15 04:41:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/15 04:41:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 04:41:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:41:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[save_utils.py: 785]
+05/15 04:41:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 13.84s (batch: 3.09s, save: 10.75s)	[pipeline.py: 300]
+05/15 04:41:42 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.91s:
+  episode_total: mean=89.06s, total=178.11s, count=2, min=2863.3ms, max=175247.2ms
+  sensor_polling: mean=385.8ms, total=115.73s, count=300, min=371.4ms, max=688.3ms
+  save_trajectories: mean=10.75s, total=10.75s, count=1, min=10749.1ms, max=10749.1ms
+  physics_step: mean=22.7ms, total=6.81s, count=300, min=15.4ms, max=31.1ms
+  save_batch_prep: mean=3.09s, total=3.09s, count=1, min=3094.6ms, max=3094.6ms
+  task_sampling: mean=453.5ms, total=907.0ms, count=2, min=414.3ms, max=492.7ms
+  task_specific_sample: mean=449.8ms, total=899.6ms, count=2, min=409.8ms, max=489.8ms
+  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.1ms, max=3.0ms
+  mj_forward_sync: mean=538.0us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=16.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 04:41:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:41:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:41:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:41:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:41:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:41:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:41:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:41:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:41:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 04:41:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:41:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.062m, effective arm-mount z=0.798m (base_body_z=-0.062m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.062455m	[env.py: 870]
+05/15 04:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:41:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18724 free points within sampling radius	[env.py: 907]
+05/15 04:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 154.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.27954003 -0.36864206 -0.06245471] yaw=-148.6deg	[env.py: 1019]
+05/15 04:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 139.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.21267692 -0.16533434 -0.06245471] yaw=-118.3deg	[env.py: 1019]
+05/15 04:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.24903214 -0.50135687 -0.06245471] yaw=-147.2deg	[env.py: 1019]
+05/15 04:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:41:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=166.5ms, total=166.6ms	[env.py: 1075]
+05/15 04:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.280, -0.369, -0.062)	[env.py: 1079]
+05/15 04:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.6 deg	[env.py: 1082]
+05/15 04:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m	[env.py: 1086]
+05/15 04:41:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:41:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:41:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:41:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:41:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:41:44 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:41:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:41:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 04:41:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:41:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:41:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:41:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[save_utils.py: 785]
+05/15 04:41:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 14.30s (batch: 3.03s, save: 11.27s)	[pipeline.py: 300]
+05/15 04:41:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.295s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:41:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.618[m] 93.081[deg]	[grasp_sample.py: 539]
+05/15 04:41:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:41:46 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.49s:
+  episode_total: mean=164.94s, total=164.94s, count=1, min=164939.5ms, max=164939.5ms
+  sensor_polling: mean=391.0ms, total=117.30s, count=300, min=374.8ms, max=680.5ms
+  save_trajectories: mean=11.27s, total=11.27s, count=1, min=11269.9ms, max=11269.9ms
+  physics_step: mean=22.5ms, total=6.75s, count=300, min=16.8ms, max=31.6ms
+  save_batch_prep: mean=3.03s, total=3.03s, count=1, min=3034.5ms, max=3034.5ms
+  task_sampling: mean=487.6ms, total=487.6ms, count=1, min=487.6ms, max=487.6ms
+  task_specific_sample: mean=483.4ms, total=483.4ms, count=1, min=483.4ms, max=483.4ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=450.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 04:41:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:41:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:41:46 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 04:41:47 WARNING: [Worker 0] No trajectory data to save for chunk_111	[pipeline.py: 234]
+05/15 04:41:47 WARNING: [Worker 0] No trajectory data to save for chunk_111	[pipeline.py: 234]
+05/15 04:41:47 INFO: [Worker 0] Worker 0 completed house 1: 9/10 successful episodes	[pipeline.py: 1323]
+05/15 04:41:47 INFO: [Worker 0] [PROFILE] House 1 complete: 9/10 successful, 10 episodes, total_time=3955.91s
+  House averages:
+  episode_total: mean=121.30s, total=2183.48s, count=18, min=159.0ms, max=223285.8ms
+  sensor_polling: mean=404.9ms, total=1529.53s, count=3778, min=367.7ms, max=755.8ms
+  save_trajectories: mean=10.80s, total=97.16s, count=9, min=10319.9ms, max=11809.8ms
+  physics_step: mean=24.3ms, total=91.81s, count=3778, min=15.7ms, max=65.8ms
+  save_batch_prep: mean=3.26s, total=29.37s, count=9, min=3034.5ms, max=3574.5ms
+  task_sampling: mean=602.4ms, total=10.24s, count=17, min=346.3ms, max=3306.6ms
+  task_specific_sample: mean=420.1ms, total=7.56s, count=18, min=154.6ms, max=669.9ms
+  scene_load: mean=2.78s, total=2.78s, count=1, min=2775.1ms, max=2775.1ms
+  scene_env_create: mean=1.70s, total=1.70s, count=1, min=1696.5ms, max=1696.5ms
+  scene_compile: mean=905.2ms, total=905.2ms, count=1, min=905.2ms, max=905.2ms
+  compile_mujoco: mean=639.1ms, total=639.1ms, count=1, min=639.1ms, max=639.1ms
+  compile_xml_load: mean=193.1ms, total=193.1ms, count=1, min=193.1ms, max=193.1ms
+  task_sampling_failed: mean=159.0ms, total=159.0ms, count=1, min=159.0ms, max=159.0ms
+  scene_init: mean=118.8ms, total=118.8ms, count=1, min=118.8ms, max=118.8ms
+  scene_asset_install: mean=54.3ms, total=54.3ms, count=1, min=54.3ms, max=54.3ms
+  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=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
+  scene_randomize: mean=1.9ms, total=34.6ms, count=18, min=1.1ms, max=3.1ms
+  asset_install_objects: mean=12.3ms, total=12.3ms, count=1, min=12.3ms, max=12.3ms
+  compile_robot_add: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
+  mj_forward_sync: mean=478.6us, total=8.6ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms
+  policy_setup: mean=17.4us, total=0.3ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/15 04:41:47 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/15 04:41:47 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=3955.91s
+  Worker averages:
+  episode_total: mean=121.30s, total=2183.48s, count=18, min=159.0ms, max=223285.8ms
+  sensor_polling: mean=404.9ms, total=1529.53s, count=3778, min=367.7ms, max=755.8ms
+  save_trajectories: mean=10.80s, total=97.16s, count=9, min=10319.9ms, max=11809.8ms
+  physics_step: mean=24.3ms, total=91.81s, count=3778, min=15.7ms, max=65.8ms
+  save_batch_prep: mean=3.26s, total=29.37s, count=9, min=3034.5ms, max=3574.5ms
+  task_sampling: mean=602.4ms, total=10.24s, count=17, min=346.3ms, max=3306.6ms
+  task_specific_sample: mean=420.1ms, total=7.56s, count=18, min=154.6ms, max=669.9ms
+  scene_load: mean=2.78s, total=2.78s, count=1, min=2775.1ms, max=2775.1ms
+  scene_env_create: mean=1.70s, total=1.70s, count=1, min=1696.5ms, max=1696.5ms
+  scene_compile: mean=905.2ms, total=905.2ms, count=1, min=905.2ms, max=905.2ms
+  compile_mujoco: mean=639.1ms, total=639.1ms, count=1, min=639.1ms, max=639.1ms
+  compile_xml_load: mean=193.1ms, total=193.1ms, count=1, min=193.1ms, max=193.1ms
+  task_sampling_failed: mean=159.0ms, total=159.0ms, count=1, min=159.0ms, max=159.0ms
+  scene_init: mean=118.8ms, total=118.8ms, count=1, min=118.8ms, max=118.8ms
+  scene_asset_install: mean=54.3ms, total=54.3ms, count=1, min=54.3ms, max=54.3ms
+  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=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
+  scene_randomize: mean=1.9ms, total=34.6ms, count=18, min=1.1ms, max=3.1ms
+  asset_install_objects: mean=12.3ms, total=12.3ms, count=1, min=12.3ms, max=12.3ms
+  compile_robot_add: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
+  mj_forward_sync: mean=478.6us, total=8.6ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms
+  policy_setup: mean=17.4us, total=0.3ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/15 04:41:50 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/15 04:41:50 INFO: Success count: 9, Total count: 10	[pipeline.py: 1491]
+05/15 04:41:50 INFO: Success rate: 90.00%	[pipeline.py: 1492]
+05/15 04:42:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:42:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:42:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:43:50 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 04:44:12 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[pipeline.py: 1174]
+05/15 04:44:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 04:44:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 04:44:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:44:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[save_utils.py: 785]
+05/15 04:44:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 13.72s (batch: 3.04s, save: 10.68s)	[pipeline.py: 300]
+05/15 04:44:26 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.43s:
+  episode_total: mean=162.15s, total=162.15s, count=1, min=162150.1ms, max=162150.1ms
+  sensor_polling: mean=384.2ms, total=115.27s, count=300, min=369.0ms, max=653.5ms
+  save_trajectories: mean=10.68s, total=10.68s, count=1, min=10679.4ms, max=10679.4ms
+  physics_step: mean=23.0ms, total=6.90s, count=300, min=16.8ms, max=30.8ms
+  save_batch_prep: mean=3.04s, total=3.04s, count=1, min=3043.7ms, max=3043.7ms
+  task_sampling: mean=429.8ms, total=429.8ms, count=1, min=429.8ms, max=429.8ms
+  task_specific_sample: mean=425.7ms, total=425.7ms, count=1, min=425.7ms, max=425.7ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=450.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 04:44:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:44:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:44:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:44:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:44:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:44:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:44:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:44:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:44:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 04:44:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:44:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.018m, effective arm-mount z=0.842m (base_body_z=-0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.017987m	[env.py: 870]
+05/15 04:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:44:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18724 free points within sampling radius	[env.py: 907]
+05/15 04:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.15341322 -1.0041828  -0.01798683] yaw=149.0deg	[env.py: 1019]
+05/15 04:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.51461492 -0.11596752 -0.01798683] yaw=-152.0deg	[env.py: 1019]
+05/15 04:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 134.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 140.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.52525205 -0.1428469  -0.01798683] yaw=-138.1deg	[env.py: 1019]
+05/15 04:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 04:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:44:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=268.3ms, total=268.3ms	[env.py: 1075]
+05/15 04:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.153, -1.004, -0.018)	[env.py: 1079]
+05/15 04:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.0 deg	[env.py: 1082]
+05/15 04:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m	[env.py: 1086]
+05/15 04:44:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:44:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:44:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:44:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:44:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:44:28 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:44:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:44:28 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 04:44:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:44:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:44:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.910s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:44:29 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.507[m] 49.265[deg]	[grasp_sample.py: 539]
+05/15 04:44:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:44:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:44:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:44:30 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 04:45:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:45:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:45:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:46:39 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 04:47:00 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[pipeline.py: 1174]
+05/15 04:47:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 04:47:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 04:47:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:47:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[save_utils.py: 785]
+05/15 04:47:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 13.49s (batch: 3.05s, save: 10.43s)	[pipeline.py: 300]
+05/15 04:47:14 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.55s:
+  episode_total: mean=166.31s, total=166.31s, count=1, min=166307.7ms, max=166307.7ms
+  sensor_polling: mean=391.7ms, total=117.52s, count=300, min=378.4ms, max=675.3ms
+  save_trajectories: mean=10.43s, total=10.43s, count=1, min=10433.8ms, max=10433.8ms
+  physics_step: mean=23.4ms, total=7.01s, count=300, min=16.7ms, max=27.5ms
+  save_batch_prep: mean=3.05s, total=3.05s, count=1, min=3053.0ms, max=3053.0ms
+  task_sampling: mean=549.1ms, total=549.1ms, count=1, min=549.1ms, max=549.1ms
+  task_specific_sample: mean=544.9ms, total=544.9ms, count=1, min=544.9ms, max=544.9ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=451.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.5us, 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 04:47:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 04:47:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 04:47:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 04:47:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:47:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:47:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:47:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:47:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 04:47:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 04:47:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 04:47:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 04:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 04:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 04:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034058m	[env.py: 870]
+05/15 04:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 04:47:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 04:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18724 free points within sampling radius	[env.py: 907]
+05/15 04:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 111.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 04:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.30840362 -0.28203325  0.03405828] yaw=-118.5deg	[env.py: 1019]
+05/15 04:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 04:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.323382    0.03090671  0.03405828] yaw=-150.5deg	[env.py: 1019]
+05/15 04:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 04:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 04:47:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=163.0ms, total=163.0ms	[env.py: 1075]
+05/15 04:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.308, -0.282, 0.034)	[env.py: 1079]
+05/15 04:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -118.5 deg	[env.py: 1082]
+05/15 04:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m	[env.py: 1086]
+05/15 04:47:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 04:47:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 04:47:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 04:47:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 04:47:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 04:47:15 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/15 04:47:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/15 04:47:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 04:47:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 04:47:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 04:47:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.871s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 04:47:16 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.587[m] 89.903[deg]	[grasp_sample.py: 539]
+05/15 04:47:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 04:47:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 04:47:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:47:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 04:48:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:48:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 04:48:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 04:49:23 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 04:49:44 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[pipeline.py: 1174]
+05/15 04:49:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_111 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 04:49:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 04:49:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 04:49:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_111	[save_utils.py: 785]
+05/15 04:49:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_111 in 13.55s (batch: 3.04s, save: 10.51s)	[pipeline.py: 300]
+05/15 04:49:58 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.42s:
+  episode_total: mean=163.45s, total=163.45s, count=1, min=163450.5ms, max=163450.5ms
+  sensor_polling: mean=389.3ms, total=116.79s, count=300, min=373.7ms, max=659.3ms
+  save_trajectories: mean=10.51s, total=10.51s, count=1, min=10508.4ms, max=10508.4ms
+  physics_step: mean=23.2ms, total=6.96s, count=300, min=16.8ms, max=28.5ms
+  save_batch_prep: mean=3.04s, total=3.04s, count=1, min=3038.4ms, max=3038.4ms
+  task_sampling: mean=418.7ms, total=418.7ms, count=1, min=418.7ms, max=418.7ms
+  task_specific_sample: mean=414.6ms, total=414.6ms, count=1, min=414.6ms, max=414.6ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=447.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 04:50:00 WARNING: [Worker 0] No trajectory data to save for chunk_111	[pipeline.py: 234]
+05/15 04:50:00 WARNING: [Worker 0] No trajectory data to save for chunk_111	[pipeline.py: 234]
+05/15 04:50:00 INFO: [Worker 0] Worker 0 completed house 1: 14/14 successful episodes	[pipeline.py: 1323]
+05/15 04:50:00 INFO: [Worker 0] [PROFILE] House 1 complete: 14/14 successful, 14 episodes, total_time=4837.17s
+  House averages:
+  episode_total: mean=148.69s, total=2676.43s, count=18, min=2863.3ms, max=175592.4ms
+  sensor_polling: mean=399.1ms, total=1828.07s, count=4580, min=334.5ms, max=795.4ms
+  save_trajectories: mean=10.90s, total=152.64s, count=14, min=10414.1ms, max=12037.3ms
+  physics_step: mean=24.1ms, total=110.41s, count=4580, min=15.4ms, max=65.9ms
+  save_batch_prep: mean=3.15s, total=44.15s, count=14, min=2941.6ms, max=3539.8ms
+  task_sampling: mean=601.2ms, total=10.82s, count=18, min=382.5ms, max=3233.8ms
+  task_specific_sample: mean=442.5ms, total=7.97s, count=18, min=378.3ms, max=544.9ms
+  scene_load: mean=2.79s, total=2.79s, count=1, min=2786.8ms, max=2786.8ms
+  scene_env_create: mean=1.66s, total=1.66s, count=1, min=1659.3ms, max=1659.3ms
+  scene_compile: mean=960.4ms, total=960.4ms, count=1, min=960.4ms, max=960.4ms
+  compile_mujoco: mean=699.1ms, total=699.1ms, count=1, min=699.1ms, max=699.1ms
+  compile_xml_load: mean=187.4ms, total=187.4ms, count=1, min=187.4ms, max=187.4ms
+  scene_init: mean=116.9ms, total=116.9ms, count=1, min=116.9ms, max=116.9ms
+  compile_aux_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms
+  compile_aux_policy_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms
+  scene_asset_install: mean=49.9ms, total=49.9ms, count=1, min=49.9ms, max=49.9ms
+  scene_randomize: mean=2.4ms, total=43.2ms, count=18, min=1.1ms, max=3.5ms
+  asset_install_grasps: mean=36.0ms, total=36.0ms, count=1, min=36.0ms, max=36.0ms
+  asset_install_objects: mean=11.1ms, total=11.1ms, count=1, min=11.1ms, max=11.1ms
+  mj_forward_sync: mean=507.5us, total=9.1ms, count=18, min=0.4ms, max=0.8ms
+  compile_robot_add: mean=8.0ms, total=8.0ms, count=1, min=8.0ms, max=8.0ms
+  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  policy_setup: mean=20.4us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/15 04:50:00 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/15 04:50:00 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=4837.17s
+  Worker averages:
+  episode_total: mean=148.69s, total=2676.43s, count=18, min=2863.3ms, max=175592.4ms
+  sensor_polling: mean=399.1ms, total=1828.07s, count=4580, min=334.5ms, max=795.4ms
+  save_trajectories: mean=10.90s, total=152.64s, count=14, min=10414.1ms, max=12037.3ms
+  physics_step: mean=24.1ms, total=110.41s, count=4580, min=15.4ms, max=65.9ms
+  save_batch_prep: mean=3.15s, total=44.15s, count=14, min=2941.6ms, max=3539.8ms
+  task_sampling: mean=601.2ms, total=10.82s, count=18, min=382.5ms, max=3233.8ms
+  task_specific_sample: mean=442.5ms, total=7.97s, count=18, min=378.3ms, max=544.9ms
+  scene_load: mean=2.79s, total=2.79s, count=1, min=2786.8ms, max=2786.8ms
+  scene_env_create: mean=1.66s, total=1.66s, count=1, min=1659.3ms, max=1659.3ms
+  scene_compile: mean=960.4ms, total=960.4ms, count=1, min=960.4ms, max=960.4ms
+  compile_mujoco: mean=699.1ms, total=699.1ms, count=1, min=699.1ms, max=699.1ms
+  compile_xml_load: mean=187.4ms, total=187.4ms, count=1, min=187.4ms, max=187.4ms
+  scene_init: mean=116.9ms, total=116.9ms, count=1, min=116.9ms, max=116.9ms
+  compile_aux_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms
+  compile_aux_policy_objects: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms
+  scene_asset_install: mean=49.9ms, total=49.9ms, count=1, min=49.9ms, max=49.9ms
+  scene_randomize: mean=2.4ms, total=43.2ms, count=18, min=1.1ms, max=3.5ms
+  asset_install_grasps: mean=36.0ms, total=36.0ms, count=1, min=36.0ms, max=36.0ms
+  asset_install_objects: mean=11.1ms, total=11.1ms, count=1, min=11.1ms, max=11.1ms
+  mj_forward_sync: mean=507.5us, total=9.1ms, count=18, min=0.4ms, max=0.8ms
+  compile_robot_add: mean=8.0ms, total=8.0ms, count=1, min=8.0ms, max=8.0ms
+  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  policy_setup: mean=20.4us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/15 04:50:02 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/15 04:50:02 INFO: Success count: 14, Total count: 14	[pipeline.py: 1491]
+05/15 04:50:02 INFO: Success rate: 100.00%	[pipeline.py: 1492]
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