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+05/14 22:06:57 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/14 22:06:57 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/14 22:06:57 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/14 22:06:57 INFO: {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_v2/sim_chunks/chunk_002'),
+ '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 0x725358784890>,
+ 'robot_config': {'K_damping': [793.0831592413665,
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+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
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+                  '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,
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+                                        -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': 20201,
+ '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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+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/14 22:06:57 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/14 22:06:57 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/14 22:06:57 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/14 22:06:57 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/14 22:06:57 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/14 22:06:57 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/14 22:06:57 INFO: {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
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+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
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+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_v2/sim_chunks/chunk_002'),
+ 'output_suffix': '_cam_rand',
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+                                          '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': 20203,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.1, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.2),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 1.0),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/14 22:06:57 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/14 22:06:57 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/14 22:06:57 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/14 22:06:58 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/14 22:06:58 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/14 22:07:01 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/14 22:07:01 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/14 22:07:01 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/14 22:07:01 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/14 22:07:01 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/14 22:07:01 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/14 22:07:01 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/14 22:07:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:07:01 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/14 22:07:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:07:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:07:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:07:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:07:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:07:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:07:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:07:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:07:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:07:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:07:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:07:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:07:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:07:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:07:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:07:01 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]
+05/14 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023392m	[env.py: 870]
+05/14 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:07:01 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/14 22:07:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:07:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:07:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064674m	[env.py: 870]
+05/14 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:07:01 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/14 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18167 free points within sampling radius	[env.py: 907]
+05/14 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.22174391 -0.12334661  0.06467372] yaw=-141.1deg	[env.py: 1019]
+05/14 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 134.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.04625077 -1.09908068  0.02339232] yaw=138.0deg	[env.py: 1019]
+05/14 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.21448348 -0.82784006  0.06467372] yaw=179.3deg	[env.py: 1019]
+05/14 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.07228545 -0.93338171  0.02339232] yaw=153.6deg	[env.py: 1019]
+05/14 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 133.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.19687269 -0.28733005  0.02339232] yaw=-169.8deg	[env.py: 1019]
+05/14 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:07:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=21.7ms, retries=154.4ms, total=176.1ms	[env.py: 1075]
+05/14 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.046, -1.099, 0.023)	[env.py: 1079]
+05/14 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 138.0 deg	[env.py: 1082]
+05/14 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m	[env.py: 1086]
+05/14 22:07:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:07:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:07:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:07:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:07:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=21.3ms, retries=178.8ms, total=200.2ms	[env.py: 1075]
+05/14 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.222, -0.123, 0.065)	[env.py: 1079]
+05/14 22:07:01 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/14 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.1 deg	[env.py: 1082]
+05/14 22:07:01 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/14 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m	[env.py: 1086]
+05/14 22:07:01 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/14 22:07:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:07:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:07:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:07:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:07:01 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_002'),
+ '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 0x7ce0f4d51f90>,
+ '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': 20202,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.1, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.2),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 1.0),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/14 22:07:01 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/14 22:07:01 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/14 22:07:01 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/14 22:07:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:07:01 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:07:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:07:01 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:07:01 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/14 22:07:03 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/14 22:07:03 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/14 22:07:03 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/14 22:07:03 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_002'),
+ '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 0x783e29817d10>,
+ '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': 20204,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.1, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.2),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 1.0),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/14 22:07:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/14 22:07:03 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/14 22:07:03 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/14 22:07:03 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/14 22:07:04 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/14 22:07:04 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/14 22:07:04 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/14 22:07:04 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/14 22:07:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:07:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:07:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:07:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:07:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:07:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:07:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:07:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:07:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:07:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049579m	[env.py: 870]
+05/14 22:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:07:04 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/14 22:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.15468466 -0.84662703  0.04957855] yaw=199.1deg	[env.py: 1019]
+05/14 22:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 146.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.44727515  0.1533399   0.04957855] yaw=-113.1deg	[env.py: 1019]
+05/14 22:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.23200296 -0.25650218  0.04957855] yaw=-127.2deg	[env.py: 1019]
+05/14 22:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:07:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=21.6ms, retries=150.3ms, total=171.9ms	[env.py: 1075]
+05/14 22:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.155, -0.847, 0.050)	[env.py: 1079]
+05/14 22:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 199.1 deg	[env.py: 1082]
+05/14 22:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m	[env.py: 1086]
+05/14 22:07:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:07:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:07:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:07:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:07:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:07:04 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:07:05 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/14 22:07:05 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/14 22:07:06 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/14 22:07:06 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/14 22:07:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:07:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:07:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:07:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:07:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:07:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:07:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:07:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:07:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:07:06 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]
+05/14 22:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053921m	[env.py: 870]
+05/14 22:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:07:06 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/14 22:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.0112016  -0.62237739  0.05392058] yaw=-181.8deg	[env.py: 1019]
+05/14 22:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -162.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.40509216  0.0176999   0.05392058] yaw=-146.5deg	[env.py: 1019]
+05/14 22:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.19004841 -0.31938811  0.05392058] yaw=-125.8deg	[env.py: 1019]
+05/14 22:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:07:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=21.3ms, retries=130.1ms, total=151.4ms	[env.py: 1075]
+05/14 22:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.011, -0.622, 0.054)	[env.py: 1079]
+05/14 22:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -181.8 deg	[env.py: 1082]
+05/14 22:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.103m	[env.py: 1086]
+05/14 22:07:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:07:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:07:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:07:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:07:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:07:06 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:07:37 INFO: [Worker 0] Warmed up parallel IK solver in 35.608s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:07:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:07:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:07:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.100s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:07:37 INFO: [Worker 0] Warmed up parallel IK solver in 35.998s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:07:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:07:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:07:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:07:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.950s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:07:40 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:07:40 INFO: [Worker 0] Warmed up parallel IK solver in 36.076s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:07:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:07:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:07:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:07:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.172s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:07:41 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.632[m] 81.987[deg]	[grasp_sample.py: 539]
+05/14 22:07:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:07:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:07:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:07:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:07:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:07:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:07:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:07:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:07:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:07:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:07:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:07:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:07:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:07:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:07:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039295m	[env.py: 870]
+05/14 22:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:07:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18167 free points within sampling radius	[env.py: 907]
+05/14 22:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.02880596 -1.27169812  0.03929529] yaw=183.8deg	[env.py: 1019]
+05/14 22:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.20833005 -1.03867236  0.03929529] yaw=155.6deg	[env.py: 1019]
+05/14 22:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.28195274 -1.22487519  0.03929529] yaw=145.9deg	[env.py: 1019]
+05/14 22:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:07:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=200.0ms, total=200.1ms	[env.py: 1075]
+05/14 22:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.029, -1.272, 0.039)	[env.py: 1079]
+05/14 22:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 183.8 deg	[env.py: 1082]
+05/14 22:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.141m	[env.py: 1086]
+05/14 22:07:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:07:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:07:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:07:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:07:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:07:42 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:07:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:07:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:07:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:07:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.793s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:07:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.519[m] 88.800[deg]	[grasp_sample.py: 539]
+05/14 22:07:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:07:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:07:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:07:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:07:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:07:44 INFO: [Worker 0] Warmed up parallel IK solver in 37.518s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:07:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:07:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:07:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:07:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.214s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:07:45 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.568[m] 83.920[deg]	[grasp_sample.py: 539]
+05/14 22:07:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:07:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.767s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:07:45 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:07:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:07:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:07:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:07:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:07:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:07:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:07:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:07:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:07:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:07:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:07:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:07:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:07:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:07:47 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]
+05/14 22:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092243m	[env.py: 870]
+05/14 22:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:07:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18167 free points within sampling radius	[env.py: 907]
+05/14 22:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 126.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.00166253 -0.50992177  0.092243  ] yaw=-150.0deg	[env.py: 1019]
+05/14 22:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.04658684 -1.18855578  0.092243  ] yaw=143.5deg	[env.py: 1019]
+05/14 22:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:07:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=243.3ms, total=243.3ms	[env.py: 1075]
+05/14 22:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.002, -0.510, 0.092)	[env.py: 1079]
+05/14 22:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.0 deg	[env.py: 1082]
+05/14 22:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.115m	[env.py: 1086]
+05/14 22:07:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:07:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:07:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:07:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:07:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:07:47 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:07:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:07:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:07:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:07:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:07:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.034s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:07:51 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.821[m] 71.138[deg]	[grasp_sample.py: 539]
+05/14 22:07:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:07:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:07:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:08:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:08:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:08:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:08:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:08:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:08:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:08:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:08:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:08:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:09:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:09:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:09:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:09:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:09:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:09:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:09:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:09:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:09:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:09:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:09:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:09:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:09:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:09:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:09:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:09:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:09:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:09:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:09:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:09:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:09:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:09:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:09:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:09:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:09:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:09:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:09:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:09:16 INFO: [Worker 0] Feasibility-checked 80 grasps in 2.816s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:09:16 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.030[m] 0.712[deg]	[grasp_sample.py: 539]
+05/14 22:09:17 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 22:09:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:09:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:09:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:09:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:09:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:09:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:09:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:09:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:09:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:09:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:09:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:09:18 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]
+05/14 22:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033602m	[env.py: 870]
+05/14 22:09:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:09:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 158.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.099938   -0.51641576  0.03360211] yaw=-171.8deg	[env.py: 1019]
+05/14 22:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.24915238 -1.15318359  0.03360211] yaw=133.3deg	[env.py: 1019]
+05/14 22:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.19798456 -1.09712334  0.03360211] yaw=151.4deg	[env.py: 1019]
+05/14 22:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:09:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=209.0ms, total=209.0ms	[env.py: 1075]
+05/14 22:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.100, -0.516, 0.034)	[env.py: 1079]
+05/14 22:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.8 deg	[env.py: 1082]
+05/14 22:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.019m	[env.py: 1086]
+05/14 22:09:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:09:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:09:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:09:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:09:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:09:19 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:09:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:09:19 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]
+05/14 22:09:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:09:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:09:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:09:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:09:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.700s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:09:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.728[m] 119.276[deg]	[grasp_sample.py: 539]
+05/14 22:09:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:09:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:09:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:09:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:09:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:09:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:09:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:09:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:09:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:09:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:09:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:09:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:09:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:09:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:09:30 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.846s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:09:30 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.029[m] 0.404[deg]	[grasp_sample.py: 539]
+05/14 22:09:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:09:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:09:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:09:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:09:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 29.502s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:09:43 INFO: [Worker 0] Feasible grasp found 185 (originally 70): w/ 0.074[m] 142.898[deg]	[grasp_sample.py: 539]
+05/14 22:09:44 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 22:09:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:09:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:09:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:09:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:09:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:09:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:09:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:09:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:09:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:09:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:09:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:09:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.004m, effective arm-mount z=0.856m (base_body_z=-0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:09:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:09:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:09:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.004082m	[env.py: 870]
+05/14 22:09:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:09:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:09:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18167 free points within sampling radius	[env.py: 907]
+05/14 22:09:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:09:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:09:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:09:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:09:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:09:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.16468443 -0.34551772 -0.00408241] yaw=-145.3deg	[env.py: 1019]
+05/14 22:09:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:09:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.03163624 -0.76671472 -0.00408241] yaw=-203.4deg	[env.py: 1019]
+05/14 22:09:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:09:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:09:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=267.7ms, total=267.7ms	[env.py: 1075]
+05/14 22:09:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.165, -0.346, -0.004)	[env.py: 1079]
+05/14 22:09:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.3 deg	[env.py: 1082]
+05/14 22:09:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.024m	[env.py: 1086]
+05/14 22:09:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:09:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:09:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:09:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:09:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:09:46 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:09:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.150s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:09:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:09:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:09:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:09:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:09:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.841s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:09:49 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.690[m] 103.498[deg]	[grasp_sample.py: 539]
+05/14 22:09:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:09:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:09:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:09:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:09:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:09:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:09:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:09:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:09:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:10:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:10:01 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:10:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:10:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:10:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:10:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:10:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:10:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:10:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:10:07 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.161s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:10:07 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.028[m] 3.829[deg]	[grasp_sample.py: 539]
+05/14 22:10:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:10:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:10:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:10:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:10:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:10:22 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/14 22:10:22 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=False episode_total=4.25s:
+  episode_total: mean=204.76s, total=204.76s, count=1, min=204764.0ms, max=204764.0ms
+  sensor_polling: mean=429.1ms, total=128.72s, count=300, min=404.6ms, max=680.9ms
+  physics_step: mean=23.7ms, total=7.11s, count=300, min=15.3ms, max=31.8ms
+  task_sampling: mean=4.25s, total=4.25s, count=1, min=4248.2ms, max=4248.2ms
+  scene_load: mean=3.76s, total=3.76s, count=1, min=3755.9ms, max=3755.9ms
+  scene_env_create: mean=2.10s, total=2.10s, count=1, min=2095.4ms, max=2095.4ms
+  scene_compile: mean=1.48s, total=1.48s, count=1, min=1479.2ms, max=1479.2ms
+  compile_mujoco: mean=802.3ms, total=802.3ms, count=1, min=802.3ms, max=802.3ms
+  compile_xml_load: mean=574.0ms, total=574.0ms, count=1, min=574.0ms, max=574.0ms
+  task_specific_sample: mean=488.6ms, total=488.6ms, count=1, min=488.6ms, max=488.6ms
+  scene_init: mean=117.2ms, total=117.2ms, count=1, min=117.2ms, max=117.2ms
+  scene_asset_install: mean=63.8ms, total=63.8ms, count=1, min=63.8ms, max=63.8ms
+  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=43.9ms, total=43.9ms, count=1, min=43.9ms, max=43.9ms
+  compile_robot_add: mean=36.4ms, total=36.4ms, count=1, min=36.4ms, max=36.4ms
+  asset_install_objects: mean=15.1ms, total=15.1ms, count=1, min=15.1ms, max=15.1ms
+  asset_install_scene: mean=4.8ms, total=4.8ms, count=1, min=4.8ms, max=4.8ms
+  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
+  mj_forward_sync: mean=453.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=58.1us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
+05/14 22:10:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:10:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:10:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:10:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:10:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:10:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:10:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:10:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:10:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:10:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:10:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.025m, effective arm-mount z=0.835m (base_body_z=-0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024912m	[env.py: 870]
+05/14 22:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:10:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.36372869 -0.24827463 -0.02491161] yaw=-161.9deg	[env.py: 1019]
+05/14 22:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.22744356 -0.38988473 -0.02491161] yaw=-138.9deg	[env.py: 1019]
+05/14 22:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.30333555 -0.5726283  -0.02491161] yaw=-160.2deg	[env.py: 1019]
+05/14 22:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:10:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=201.3ms, total=201.4ms	[env.py: 1075]
+05/14 22:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.364, -0.248, -0.025)	[env.py: 1079]
+05/14 22:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.9 deg	[env.py: 1082]
+05/14 22:10:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m	[env.py: 1086]
+05/14 22:10:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:10:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:10:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:10:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:10:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:10:25 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:10:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:10:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:10:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:10:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:10:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.817s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:10:26 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.612[m] 34.028[deg]	[grasp_sample.py: 539]
+05/14 22:10:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:10:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:10:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:10:28 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/14 22:10:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 22:10:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:10:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:10:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:10:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:10:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[save_utils.py: 785]
+05/14 22:10:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.61s (batch: 4.47s, save: 11.14s)	[pipeline.py: 300]
+05/14 22:10:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:10:45 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.28s:
+  episode_total: mean=223.47s, total=223.47s, count=1, min=223474.3ms, max=223474.3ms
+  sensor_polling: mean=430.6ms, total=129.17s, count=300, min=400.0ms, max=749.4ms
+  save_trajectories: mean=11.14s, total=11.14s, count=1, min=11139.1ms, max=11139.1ms
+  physics_step: mean=23.5ms, total=7.06s, count=300, min=17.3ms, max=33.5ms
+  save_batch_prep: mean=4.47s, total=4.47s, count=1, min=4469.8ms, max=4469.8ms
+  task_sampling: mean=3.28s, total=3.28s, count=1, min=3281.7ms, max=3281.7ms
+  scene_load: mean=2.80s, total=2.80s, count=1, min=2796.9ms, max=2796.9ms
+  scene_env_create: mean=1.72s, total=1.72s, count=1, min=1722.1ms, max=1722.1ms
+  scene_compile: mean=865.2ms, total=865.2ms, count=1, min=865.2ms, max=865.2ms
+  compile_mujoco: mean=602.5ms, total=602.5ms, count=1, min=602.5ms, max=602.5ms
+  task_specific_sample: mean=478.9ms, total=478.9ms, count=1, min=478.9ms, max=478.9ms
+  compile_xml_load: mean=187.2ms, total=187.2ms, count=1, min=187.2ms, max=187.2ms
+  scene_init: mean=118.9ms, total=118.9ms, count=1, min=118.9ms, max=118.9ms
+  scene_asset_install: mean=90.5ms, total=90.5ms, count=1, min=90.5ms, max=90.5ms
+  asset_install_grasps: mean=55.9ms, total=55.9ms, count=1, min=55.9ms, max=55.9ms
+  compile_aux_objects: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms
+  compile_aux_policy_objects: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms
+  asset_install_objects: mean=20.8ms, total=20.8ms, count=1, min=20.8ms, max=20.8ms
+  asset_install_scene: mean=13.8ms, total=13.8ms, count=1, min=13.8ms, max=13.8ms
+  compile_robot_add: mean=9.6ms, total=9.6ms, count=1, min=9.6ms, max=9.6ms
+  scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
+  mj_forward_sync: mean=450.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=23.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:10:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:10:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:10:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:10:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:10:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:10:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:10:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:10:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:10:46 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]
+05/14 22:10:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:10:46 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]
+05/14 22:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063695m	[env.py: 870]
+05/14 22:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:10:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.1276634  -0.22971301  0.06369455] yaw=-149.2deg	[env.py: 1019]
+05/14 22:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.18659573 -0.78684894  0.06369455] yaw=-168.4deg	[env.py: 1019]
+05/14 22:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.48179445  0.03979125  0.06369455] yaw=-141.5deg	[env.py: 1019]
+05/14 22:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:10:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.0ms, total=185.1ms	[env.py: 1075]
+05/14 22:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.128, -0.230, 0.064)	[env.py: 1079]
+05/14 22:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.2 deg	[env.py: 1082]
+05/14 22:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.114m	[env.py: 1086]
+05/14 22:10:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:10:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:10:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:10:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:10:46 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/14 22:10:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:10:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:10:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:10:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:10:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:10:46 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:10:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:10:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:10:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:10:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:10:49 INFO: [Worker 0] Feasibility-checked 84 grasps in 2.888s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:10:49 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.109[m] 5.366[deg]	[grasp_sample.py: 539]
+05/14 22:10:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:10:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.833s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:10:49 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:10:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:10:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:10:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:10:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:10:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:10:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:10:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:10:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:10:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:10:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:10:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:10:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:10:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002067m	[env.py: 870]
+05/14 22:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:10:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 153.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.03396709 -0.79370127  0.00206723] yaw=-180.7deg	[env.py: 1019]
+05/14 22:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:10:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=454.2ms, total=454.3ms	[env.py: 1075]
+05/14 22:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.034, -0.794, 0.002)	[env.py: 1079]
+05/14 22:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.7 deg	[env.py: 1082]
+05/14 22:10:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.109m	[env.py: 1086]
+05/14 22:10:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:10:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:10:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:10:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:10:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:10:52 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:10:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:10:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:10:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:10:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:10:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.801s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:10:55 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.795[m] 107.146[deg]	[grasp_sample.py: 539]
+05/14 22:10:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:10:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:10:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:10:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:10:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:11:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:11:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:11:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:11:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:11:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:11:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:11:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:11:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:11:40 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/14 22:11:40 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=False episode_total=3.88s:
+  episode_total: mean=137.91s, total=275.82s, count=2, min=134311.0ms, max=141511.3ms
+  sensor_polling: mean=420.2ms, total=195.40s, count=465, min=365.5ms, max=816.0ms
+  physics_step: mean=23.8ms, total=11.07s, count=465, min=16.8ms, max=71.4ms
+  task_sampling: mean=1.94s, total=3.88s, count=2, min=480.0ms, max=3396.0ms
+  scene_load: mean=2.93s, total=2.93s, count=1, min=2932.8ms, max=2932.8ms
+  scene_env_create: mean=1.88s, total=1.88s, count=1, min=1876.4ms, max=1876.4ms
+  task_specific_sample: mean=467.6ms, total=935.3ms, count=2, min=459.0ms, max=476.2ms
+  scene_compile: mean=876.0ms, total=876.0ms, count=1, min=876.0ms, max=876.0ms
+  compile_mujoco: mean=612.3ms, total=612.3ms, count=1, min=612.3ms, max=612.3ms
+  compile_xml_load: mean=188.0ms, total=188.0ms, count=1, min=188.0ms, max=188.0ms
+  scene_init: mean=118.0ms, total=118.0ms, count=1, min=118.0ms, max=118.0ms
+  scene_asset_install: mean=62.0ms, total=62.0ms, count=1, min=62.0ms, max=62.0ms
+  compile_aux_objects: mean=54.9ms, total=54.9ms, count=1, min=54.9ms, max=54.9ms
+  compile_aux_policy_objects: mean=54.9ms, total=54.9ms, count=1, min=54.9ms, max=54.9ms
+  asset_install_grasps: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
+  asset_install_objects: mean=14.9ms, total=14.9ms, count=1, min=14.9ms, max=14.9ms
+  compile_robot_add: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
+  asset_install_scene: mean=4.8ms, total=4.8ms, count=1, min=4.8ms, max=4.8ms
+  scene_randomize: mean=2.3ms, total=4.7ms, count=2, min=2.3ms, max=2.4ms
+  mj_forward_sync: mean=450.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=39.7us, total=0.1ms, count=2, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:11:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:11:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:11:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:11:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:11:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:11:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:11:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:11:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:11:42 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]
+05/14 22:11:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:11:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050436m	[env.py: 870]
+05/14 22:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:11:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.0408438  -0.39457378  0.05043633] yaw=-178.3deg	[env.py: 1019]
+05/14 22:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.12549754 -0.9451706   0.05043633] yaw=168.0deg	[env.py: 1019]
+05/14 22:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.13200347 -0.82049283  0.05043633] yaw=206.1deg	[env.py: 1019]
+05/14 22:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:11:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=182.7ms, total=182.7ms	[env.py: 1075]
+05/14 22:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.041, -0.395, 0.050)	[env.py: 1079]
+05/14 22:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.3 deg	[env.py: 1082]
+05/14 22:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.116m	[env.py: 1086]
+05/14 22:11:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:11:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:11:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:11:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:11:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:11:42 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:11:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:11:42 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]
+05/14 22:11:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:11:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:11:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.598s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:11:45 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.728[m] 89.357[deg]	[grasp_sample.py: 539]
+05/14 22:11:46 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 22:11:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:11:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:11:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:11:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:11:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:11:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:11:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:11:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:11:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:11:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:11:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035264m	[env.py: 870]
+05/14 22:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:11:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.03210243 -0.63134674  0.03526413] yaw=-166.5deg	[env.py: 1019]
+05/14 22:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:11:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=422.4ms, total=422.5ms	[env.py: 1075]
+05/14 22:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.032, -0.631, 0.035)	[env.py: 1079]
+05/14 22:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.5 deg	[env.py: 1082]
+05/14 22:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.122m	[env.py: 1086]
+05/14 22:11:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:11:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:11:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:11:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:11:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:11:50 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:11:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:11:50 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]
+05/14 22:11:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:11:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:11:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.658s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:11:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.674[m] 89.110[deg]	[grasp_sample.py: 539]
+05/14 22:11:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:11:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:11:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:11:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:12:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:12:15 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:12:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:12:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:12:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:12:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:12:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:12:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:12:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:12:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:12:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:12:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:12:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:12:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:12:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:12:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:12:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:12:43 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/14 22:12:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 22:12:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:12:44 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.587s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:12:44 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.039[m] 7.544[deg]	[grasp_sample.py: 539]
+05/14 22:12:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:12:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:12:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:12:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:12:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:12:54 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:12:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:12:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[save_utils.py: 785]
+05/14 22:12:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 16.09s (batch: 4.35s, save: 11.74s)	[pipeline.py: 300]
+05/14 22:12:59 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=6.05s:
+  episode_total: mean=89.51s, total=358.06s, count=4, min=3424.0ms, max=194265.9ms
+  sensor_polling: mean=438.2ms, total=202.00s, count=461, min=383.1ms, max=886.8ms
+  save_trajectories: mean=11.74s, total=11.74s, count=1, min=11741.4ms, max=11741.4ms
+  physics_step: mean=23.3ms, total=10.76s, count=461, min=17.3ms, max=32.5ms
+  task_sampling: mean=1.51s, total=6.05s, count=4, min=502.8ms, max=4451.2ms
+  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4351.4ms, max=4351.4ms
+  scene_load: mean=3.91s, total=3.91s, count=1, min=3908.4ms, max=3908.4ms
+  scene_env_create: mean=2.17s, total=2.17s, count=1, min=2165.4ms, max=2165.4ms
+  task_specific_sample: mean=531.8ms, total=2.13s, count=4, min=498.6ms, max=566.3ms
+  scene_compile: mean=1.56s, total=1.56s, count=1, min=1561.9ms, max=1561.9ms
+  compile_xml_load: mean=726.3ms, total=726.3ms, count=1, min=726.3ms, max=726.3ms
+  compile_mujoco: mean=716.3ms, total=716.3ms, count=1, min=716.3ms, max=716.3ms
+  scene_init: mean=117.3ms, total=117.3ms, count=1, min=117.3ms, max=117.3ms
+  compile_aux_objects: mean=70.2ms, total=70.2ms, count=1, min=70.2ms, max=70.2ms
+  compile_aux_policy_objects: mean=70.2ms, total=70.2ms, count=1, min=70.2ms, max=70.2ms
+  scene_asset_install: mean=63.2ms, total=63.2ms, count=1, min=63.2ms, max=63.2ms
+  asset_install_grasps: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms
+  compile_robot_add: mean=36.7ms, total=36.7ms, count=1, min=36.7ms, max=36.7ms
+  asset_install_objects: mean=14.7ms, total=14.7ms, count=1, min=14.7ms, max=14.7ms
+  scene_randomize: mean=2.0ms, total=7.9ms, count=4, min=1.6ms, max=2.4ms
+  asset_install_scene: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms
+  mj_forward_sync: mean=495.6us, total=2.0ms, count=4, min=0.4ms, max=0.6ms
+  policy_setup: mean=53.1us, total=0.2ms, count=4, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:13:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:13:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:13:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:13:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:13:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:13:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:13:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:13:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:13:01 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]
+05/14 22:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.074031m	[env.py: 870]
+05/14 22:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:13:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18167 free points within sampling radius	[env.py: 907]
+05/14 22:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.06043608 -0.89680093 -0.0740312 ] yaw=199.6deg	[env.py: 1019]
+05/14 22:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.28768369 -0.38213254 -0.0740312 ] yaw=-168.8deg	[env.py: 1019]
+05/14 22:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.25536132 -0.58571968 -0.0740312 ] yaw=-147.4deg	[env.py: 1019]
+05/14 22:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:13:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=174.9ms, total=175.0ms	[env.py: 1075]
+05/14 22:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.060, -0.897, -0.074)	[env.py: 1079]
+05/14 22:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 199.6 deg	[env.py: 1082]
+05/14 22:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m	[env.py: 1086]
+05/14 22:13:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:13:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:13:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:13:01 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:13:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:13:01 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]
+05/14 22:13:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:13:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:13:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:13:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.021s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:13:03 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.581[m] 91.794[deg]	[grasp_sample.py: 539]
+05/14 22:13:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:13:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:13:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:13:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:13:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:13:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:13:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:13:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:13:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:13:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:13:18 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:13:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:13:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:13:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:13:23 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/14 22:13:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/14 22:13:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:13:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:13:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[save_utils.py: 785]
+05/14 22:13:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 16.59s (batch: 4.42s, save: 12.18s)	[pipeline.py: 300]
+05/14 22:13:40 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.50s:
+  episode_total: mean=195.77s, total=195.77s, count=1, min=195769.6ms, max=195769.6ms
+  sensor_polling: mean=418.7ms, total=125.62s, count=300, min=391.6ms, max=789.7ms
+  save_trajectories: mean=12.18s, total=12.18s, count=1, min=12177.1ms, max=12177.1ms
+  physics_step: mean=24.3ms, total=7.29s, count=300, min=17.6ms, max=37.7ms
+  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4416.4ms, max=4416.4ms
+  task_sampling: mean=502.8ms, total=502.8ms, count=1, min=502.8ms, max=502.8ms
+  task_specific_sample: mean=499.5ms, total=499.5ms, count=1, min=499.5ms, max=499.5ms
+  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
+  mj_forward_sync: mean=479.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:13:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:13:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:13:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:13:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:13:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:13:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:13:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:13:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:13:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:13:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:13:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.092m, effective arm-mount z=0.768m (base_body_z=-0.092m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.092006m	[env.py: 870]
+05/14 22:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:13:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.3801466  -0.09949043 -0.09200573] yaw=-148.3deg	[env.py: 1019]
+05/14 22:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 144.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.11602089 -0.98327594 -0.09200573] yaw=156.7deg	[env.py: 1019]
+05/14 22:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.20018746 -0.6570521  -0.09200573] yaw=-170.7deg	[env.py: 1019]
+05/14 22:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:13:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=210.5ms, total=210.6ms	[env.py: 1075]
+05/14 22:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.380, -0.099, -0.092)	[env.py: 1079]
+05/14 22:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.3 deg	[env.py: 1082]
+05/14 22:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m	[env.py: 1086]
+05/14 22:13:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:13:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:13:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:13:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:13:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:13:42 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:13:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:13:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:13:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:13:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:13:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.720s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:13:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.702[m] 80.639[deg]	[grasp_sample.py: 539]
+05/14 22:13:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:13:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:13:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:13:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:13:48 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/14 22:13:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 22:13:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:13:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:14:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:14:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[save_utils.py: 785]
+05/14 22:14:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.40s (batch: 4.31s, save: 11.09s)	[pipeline.py: 300]
+05/14 22:14:05 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=1.21s:
+  episode_total: mean=98.57s, total=197.15s, count=2, min=3496.3ms, max=193650.5ms
+  sensor_polling: mean=432.7ms, total=129.80s, count=300, min=393.7ms, max=844.6ms
+  save_trajectories: mean=11.09s, total=11.09s, count=1, min=11088.9ms, max=11088.9ms
+  physics_step: mean=23.2ms, total=6.97s, count=300, min=16.8ms, max=34.1ms
+  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4314.8ms, max=4314.8ms
+  task_sampling: mean=603.5ms, total=1.21s, count=2, min=471.0ms, max=735.9ms
+  task_specific_sample: mean=600.0ms, total=1.20s, count=2, min=467.2ms, max=732.7ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.2ms, max=2.4ms
+  mj_forward_sync: mean=458.2us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:14:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:14:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:14:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:14:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:14:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:14:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:14:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:14:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:14:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:14:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:14:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029198m	[env.py: 870]
+05/14 22:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:14:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -145.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.32697897 -1.17560482  0.02919761] yaw=153.5deg	[env.py: 1019]
+05/14 22:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.1372555  -1.17154739  0.02919761] yaw=153.2deg	[env.py: 1019]
+05/14 22:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.30835035 -0.07975485  0.02919761] yaw=-161.2deg	[env.py: 1019]
+05/14 22:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:14:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=290.3ms, total=290.4ms	[env.py: 1075]
+05/14 22:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.327, -1.176, 0.029)	[env.py: 1079]
+05/14 22:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.5 deg	[env.py: 1082]
+05/14 22:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.829m	[env.py: 1086]
+05/14 22:14:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:14:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:14:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:14:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:14:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:14:06 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:14:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:14:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:14:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:14:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:14:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.910s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:14:08 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.560[m] 131.594[deg]	[grasp_sample.py: 539]
+05/14 22:14:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:14:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:14:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:14:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:14:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:14:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:14:26 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:14:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:14:54 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/14 22:14:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 22:14:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:14:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:14:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:15:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:15:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:15:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[save_utils.py: 785]
+05/14 22:15:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.71s (batch: 4.60s, save: 11.11s)	[pipeline.py: 300]
+05/14 22:15:10 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.18s:
+  episode_total: mean=102.95s, total=205.90s, count=2, min=4487.8ms, max=201412.7ms
+  sensor_polling: mean=433.2ms, total=129.97s, count=300, min=380.5ms, max=722.1ms
+  save_trajectories: mean=11.11s, total=11.11s, count=1, min=11109.7ms, max=11109.7ms
+  physics_step: mean=26.4ms, total=7.91s, count=300, min=17.3ms, max=56.8ms
+  save_batch_prep: mean=4.60s, total=4.60s, count=1, min=4595.6ms, max=4595.6ms
+  task_sampling: mean=591.0ms, total=1.18s, count=2, min=439.4ms, max=742.5ms
+  task_specific_sample: mean=587.4ms, total=1.17s, count=2, min=436.6ms, max=738.2ms
+  scene_randomize: mean=1.7ms, total=3.5ms, count=2, min=1.2ms, max=2.2ms
+  mj_forward_sync: mean=447.4us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=26.6us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:15:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:15:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:15:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:15:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:15:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:15:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:15:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:15:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:15:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:15:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:15:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.070m, effective arm-mount z=0.790m (base_body_z=-0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.070065m	[env.py: 870]
+05/14 22:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:15:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 141.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.10791138 -1.00100296 -0.0700646 ] yaw=155.1deg	[env.py: 1019]
+05/14 22:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.26312852 -0.63354206 -0.0700646 ] yaw=-193.8deg	[env.py: 1019]
+05/14 22:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:15:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=172.1ms, total=172.1ms	[env.py: 1075]
+05/14 22:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.108, -1.001, -0.070)	[env.py: 1079]
+05/14 22:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.1 deg	[env.py: 1082]
+05/14 22:15:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m	[env.py: 1086]
+05/14 22:15:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:15:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:15:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:15:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:15:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:15:12 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:15:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:15:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:15:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:15:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:15:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.604s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:15:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.498[m] 90.251[deg]	[grasp_sample.py: 539]
+05/14 22:15:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:15:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:15:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:15:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:15:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:15:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:15:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:15:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:15:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:15:32 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:15:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:15:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:15:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:15:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:15:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:15:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:15:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:15:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:15:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:15:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:15:42 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.764s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:15:42 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.103[m] 1.595[deg]	[grasp_sample.py: 539]
+05/14 22:15:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:15:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:15:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:15:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:15:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:15:58 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/14 22:15:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 22:15:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:16:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:16:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:16:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:16:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:16:11 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/14 22:16:11 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=False episode_total=0.48s:
+  episode_total: mean=149.95s, total=149.95s, count=1, min=149951.4ms, max=149951.4ms
+  sensor_polling: mean=415.1ms, total=124.54s, count=300, min=391.3ms, max=846.2ms
+  physics_step: mean=22.8ms, total=6.85s, count=300, min=16.7ms, max=31.7ms
+  task_sampling: mean=476.8ms, total=476.8ms, count=1, min=476.8ms, max=476.8ms
+  task_specific_sample: mean=472.9ms, total=472.9ms, count=1, min=472.9ms, max=472.9ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=463.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=41.9us, 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]
+05/14 22:16:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:16:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:16:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:16:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:16:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:16:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:16:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:16:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:16:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:16:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:16:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047827m	[env.py: 870]
+05/14 22:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:16:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.5420652  -0.16608023  0.0478271 ] yaw=-119.0deg	[env.py: 1019]
+05/14 22:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.03955897 -0.89225527  0.0478271 ] yaw=201.1deg	[env.py: 1019]
+05/14 22:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.13762202 -0.34539834  0.0478271 ] yaw=-173.1deg	[env.py: 1019]
+05/14 22:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:16:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.4ms, total=109.4ms	[env.py: 1075]
+05/14 22:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.542, -0.166, 0.048)	[env.py: 1079]
+05/14 22:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -119.0 deg	[env.py: 1082]
+05/14 22:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m	[env.py: 1086]
+05/14 22:16:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:16:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:16:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:16:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:16:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:16:13 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:16:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:16:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:16:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:16:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:16:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:16:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[save_utils.py: 785]
+05/14 22:16:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.05s (batch: 4.13s, save: 10.92s)	[pipeline.py: 300]
+05/14 22:16:14 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.48s:
+  episode_total: mean=193.25s, total=193.25s, count=1, min=193247.4ms, max=193247.4ms
+  sensor_polling: mean=438.0ms, total=131.40s, count=300, min=394.2ms, max=990.9ms
+  save_trajectories: mean=10.92s, total=10.92s, count=1, min=10920.3ms, max=10920.3ms
+  physics_step: mean=24.4ms, total=7.33s, count=300, min=16.6ms, max=94.8ms
+  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4126.0ms, max=4126.0ms
+  task_sampling: mean=481.4ms, total=481.4ms, count=1, min=481.4ms, max=481.4ms
+  task_specific_sample: mean=477.2ms, total=477.2ms, count=1, min=477.2ms, max=477.2ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=452.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=32.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:16:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.825s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:16:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.410[m] 95.378[deg]	[grasp_sample.py: 539]
+05/14 22:16:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:16:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:16:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:16:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:16:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:16:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:16:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:16:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:16:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:16:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:16:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:16:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:16:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:16:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:16:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.044m, effective arm-mount z=0.816m (base_body_z=-0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:16:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:16:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:16:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.044016m	[env.py: 870]
+05/14 22:16:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:16:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:16:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18167 free points within sampling radius	[env.py: 907]
+05/14 22:16:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:16:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.13334839 -0.46830197 -0.04401558] yaw=-151.2deg	[env.py: 1019]
+05/14 22:16:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:16:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:16:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 133.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:16:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:16:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.48546124 -0.10636954 -0.04401558] yaw=-135.8deg	[env.py: 1019]
+05/14 22:16:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:16:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:16:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=248.0ms, total=248.1ms	[env.py: 1075]
+05/14 22:16:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.133, -0.468, -0.044)	[env.py: 1079]
+05/14 22:16:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.2 deg	[env.py: 1082]
+05/14 22:16:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.003m	[env.py: 1086]
+05/14 22:16:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:16:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:16:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:16:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:16:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:16:16 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:16:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.180s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:16:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:16:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:16:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:16:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.691s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:16:19 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.417[m] 76.694[deg]	[grasp_sample.py: 539]
+05/14 22:16:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:16:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:16:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:16:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:16:38 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:16:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:16:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:16:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:17:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:17:05 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/14 22:17:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 22:17:05 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:17:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:17:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:17:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:17:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[save_utils.py: 785]
+05/14 22:17:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 18.66s (batch: 7.12s, save: 11.53s)	[pipeline.py: 300]
+05/14 22:17:25 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.59s:
+  episode_total: mean=198.82s, total=198.82s, count=1, min=198822.7ms, max=198822.7ms
+  sensor_polling: mean=452.3ms, total=135.68s, count=300, min=399.3ms, max=964.7ms
+  save_trajectories: mean=11.53s, total=11.53s, count=1, min=11535.0ms, max=11535.0ms
+  physics_step: mean=25.8ms, total=7.73s, count=300, min=17.5ms, max=35.6ms
+  save_batch_prep: mean=7.12s, total=7.12s, count=1, min=7120.3ms, max=7120.3ms
+  task_sampling: mean=591.5ms, total=591.5ms, count=1, min=591.5ms, max=591.5ms
+  task_specific_sample: mean=587.4ms, total=587.4ms, count=1, min=587.4ms, max=587.4ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=454.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=25.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:17:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:17:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:17:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:17:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:17:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:17:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:17:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:17:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:17:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:17:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:17:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012354m	[env.py: 870]
+05/14 22:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:17:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 160.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.59285784 -0.17530274  0.01235413] yaw=-145.9deg	[env.py: 1019]
+05/14 22:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 149.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.08682545 -0.1733106   0.01235413] yaw=-156.8deg	[env.py: 1019]
+05/14 22:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.25362556 -0.24689896  0.01235413] yaw=-155.3deg	[env.py: 1019]
+05/14 22:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:17:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=348.1ms, total=348.2ms	[env.py: 1075]
+05/14 22:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.593, -0.175, 0.012)	[env.py: 1079]
+05/14 22:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.9 deg	[env.py: 1082]
+05/14 22:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m	[env.py: 1086]
+05/14 22:17:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:17:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:17:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:17:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:17:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:17:27 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:17:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.141s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:17:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:17:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:17:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:17:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.879s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:17:28 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.603[m] 75.128[deg]	[grasp_sample.py: 539]
+05/14 22:17:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:17:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:17:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:17:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:17:38 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:18:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:18:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:18:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:18:06 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/14 22:18:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 22:18:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:18:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:18:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:18:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:18:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:18:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:18:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:18:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:18:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:18:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:18:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:18:17 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.668s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:18:17 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.317[deg]	[grasp_sample.py: 539]
+05/14 22:18:18 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 22:18:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:18:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:18:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:18:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:18:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:18:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:18:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:18:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:18:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:18:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:18:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078078m	[env.py: 870]
+05/14 22:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:18:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.51462897 -0.17027178  0.07807801] yaw=-105.0deg	[env.py: 1019]
+05/14 22:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.01732346 -0.72344056  0.07807801] yaw=-166.1deg	[env.py: 1019]
+05/14 22:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:18:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=212.0ms, total=212.0ms	[env.py: 1075]
+05/14 22:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.515, -0.170, 0.078)	[env.py: 1079]
+05/14 22:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -105.0 deg	[env.py: 1082]
+05/14 22:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m	[env.py: 1086]
+05/14 22:18:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:18:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:18:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:18:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:18:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:18:20 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:18:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:18:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:18:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:18:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:18:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.401s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:18:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.588[m] 123.398[deg]	[grasp_sample.py: 539]
+05/14 22:18:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:18:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:18:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:18:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:18:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:18:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[save_utils.py: 785]
+05/14 22:18:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 18.12s (batch: 5.00s, save: 13.12s)	[pipeline.py: 300]
+05/14 22:18:25 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.44s:
+  episode_total: mean=192.82s, total=192.82s, count=1, min=192823.9ms, max=192823.9ms
+  sensor_polling: mean=414.4ms, total=124.32s, count=300, min=384.2ms, max=817.8ms
+  save_trajectories: mean=13.12s, total=13.12s, count=1, min=13123.1ms, max=13123.1ms
+  physics_step: mean=24.5ms, total=7.35s, count=300, min=21.5ms, max=33.7ms
+  save_batch_prep: mean=5.00s, total=5.00s, count=1, min=5000.5ms, max=5000.5ms
+  task_sampling: mean=444.7ms, total=444.7ms, count=1, min=444.7ms, max=444.7ms
+  task_specific_sample: mean=440.4ms, total=440.4ms, count=1, min=440.4ms, max=440.4ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=464.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:18:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:18:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:18:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:18:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:18:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:18:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:18:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:18:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:18:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:18:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:18:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040623m	[env.py: 870]
+05/14 22:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:18:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.00886308 -1.35070422 -0.04062303] yaw=150.7deg	[env.py: 1019]
+05/14 22:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.2569566  -0.49370157 -0.04062303] yaw=-150.2deg	[env.py: 1019]
+05/14 22:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:18:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=225.0ms, total=225.1ms	[env.py: 1075]
+05/14 22:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.009, -1.351, -0.041)	[env.py: 1079]
+05/14 22:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.7 deg	[env.py: 1082]
+05/14 22:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.192m	[env.py: 1086]
+05/14 22:18:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:18:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:18:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:18:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:18:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:18:26 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:18:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:18:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:18:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:18:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:18:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.478s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:18:29 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:18:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:18:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:18:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:18:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:18:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:18:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:18:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:18:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:18:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:18:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:18:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.089m, effective arm-mount z=0.771m (base_body_z=-0.089m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.088506m	[env.py: 870]
+05/14 22:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:18:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.24350079 -1.11217014 -0.08850605] yaw=179.0deg	[env.py: 1019]
+05/14 22:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.4817137  -0.11059315 -0.08850605] yaw=-143.1deg	[env.py: 1019]
+05/14 22:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 99.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.21984859 -0.41121701 -0.08850605] yaw=-131.3deg	[env.py: 1019]
+05/14 22:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:18:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.7ms, total=143.7ms	[env.py: 1075]
+05/14 22:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.244, -1.112, -0.089)	[env.py: 1079]
+05/14 22:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.0 deg	[env.py: 1082]
+05/14 22:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m	[env.py: 1086]
+05/14 22:18:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:18:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:18:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:18:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:18:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:18:31 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:18:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:18:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:18:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:18:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:18:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.890s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:18:32 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.547[m] 67.923[deg]	[grasp_sample.py: 539]
+05/14 22:18:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:18:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:18:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:18:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:18:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:18:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:18:42 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:19:08 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/14 22:19:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 22:19:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:19:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:19:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:19:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:19:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[save_utils.py: 785]
+05/14 22:19:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.10s (batch: 4.09s, save: 11.01s)	[pipeline.py: 300]
+05/14 22:19:24 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.54s:
+  episode_total: mean=188.12s, total=188.12s, count=1, min=188119.9ms, max=188119.9ms
+  sensor_polling: mean=441.8ms, total=132.55s, count=300, min=407.3ms, max=964.5ms
+  save_trajectories: mean=11.01s, total=11.01s, count=1, min=11006.8ms, max=11006.8ms
+  physics_step: mean=24.1ms, total=7.24s, count=300, min=18.1ms, max=32.6ms
+  save_batch_prep: mean=4.09s, total=4.09s, count=1, min=4089.4ms, max=4089.4ms
+  task_sampling: mean=539.3ms, total=539.3ms, count=1, min=539.3ms, max=539.3ms
+  task_specific_sample: mean=535.4ms, total=535.4ms, count=1, min=535.4ms, max=535.4ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=466.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:19:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:19:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:19:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:19:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:19:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:19:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:19:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:19:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:19:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:19:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:19:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021206m	[env.py: 870]
+05/14 22:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:19:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18167 free points within sampling radius	[env.py: 907]
+05/14 22:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.11626474 -0.80934073  0.02120625] yaw=-201.3deg	[env.py: 1019]
+05/14 22:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 140.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 137.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.11451941 -0.27579822  0.02120625] yaw=-139.2deg	[env.py: 1019]
+05/14 22:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.08680851 -0.22310141  0.02120625] yaw=-145.4deg	[env.py: 1019]
+05/14 22:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:19:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=123.9ms, total=123.9ms	[env.py: 1075]
+05/14 22:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.116, -0.809, 0.021)	[env.py: 1079]
+05/14 22:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -201.3 deg	[env.py: 1082]
+05/14 22:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.191m	[env.py: 1086]
+05/14 22:19:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:19:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:19:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:19:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:19:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:19:25 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:19:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:19:26 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]
+05/14 22:19:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:19:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:19:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:19:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.731s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:19:28 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:19:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:19:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:19:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:19:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:19:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:19:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:19:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:19:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:19:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:19:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:19:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050804m	[env.py: 870]
+05/14 22:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:19:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18167 free points within sampling radius	[env.py: 907]
+05/14 22:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.36841203 -0.18517566  0.05080355] yaw=-153.3deg	[env.py: 1019]
+05/14 22:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 125.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.35907144 -1.2000996   0.05080355] yaw=170.0deg	[env.py: 1019]
+05/14 22:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:19:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=401.5ms, total=401.6ms	[env.py: 1075]
+05/14 22:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.368, -0.185, 0.051)	[env.py: 1079]
+05/14 22:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.3 deg	[env.py: 1082]
+05/14 22:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m	[env.py: 1086]
+05/14 22:19:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:19:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:19:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:19:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:19:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:19:31 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:19:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:19:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:19:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:19:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:19:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:19:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:19:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:19:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:19:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:19:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.223s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:19:36 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.692[m] 117.146[deg]	[grasp_sample.py: 539]
+05/14 22:19:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:19:37 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 22:19:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:19:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:19:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:19:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:19:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:19:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:19:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:19:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:19:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:19:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:19:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:19:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.097m, effective arm-mount z=0.763m (base_body_z=-0.097m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.097383m	[env.py: 870]
+05/14 22:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:19:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18167 free points within sampling radius	[env.py: 907]
+05/14 22:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.13243918 -0.78901865 -0.09738307] yaw=-189.2deg	[env.py: 1019]
+05/14 22:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.02494567 -0.30523505 -0.09738307] yaw=-138.2deg	[env.py: 1019]
+05/14 22:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 134.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.26930307 -0.5628493  -0.09738307] yaw=-171.1deg	[env.py: 1019]
+05/14 22:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:19:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=222.2ms, total=222.2ms	[env.py: 1075]
+05/14 22:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.132, -0.789, -0.097)	[env.py: 1079]
+05/14 22:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -189.2 deg	[env.py: 1082]
+05/14 22:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m	[env.py: 1086]
+05/14 22:19:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:19:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:19:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:19:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:19:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:19:39 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:19:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:19:39 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]
+05/14 22:19:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:19:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:19:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:19:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.812s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:19:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.466[m] 83.666[deg]	[grasp_sample.py: 539]
+05/14 22:19:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:19:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:19:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:19:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:19:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:19:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:19:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:19:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:19:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:19:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:19:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:19:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:19:47 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.530s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:19:47 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.739[deg]	[grasp_sample.py: 539]
+05/14 22:19:48 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 22:19:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:19:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:19:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:19:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:19:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:19:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:19:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:19:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:19:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:19:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:19:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.064m, effective arm-mount z=0.796m (base_body_z=-0.064m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.064196m	[env.py: 870]
+05/14 22:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:19:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -154.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.00206414 -0.4527589  -0.06419649] yaw=-162.2deg	[env.py: 1019]
+05/14 22:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 141.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.17537187 -0.21508338 -0.06419649] yaw=-120.9deg	[env.py: 1019]
+05/14 22:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.19927718 -0.73988958 -0.06419649] yaw=-193.8deg	[env.py: 1019]
+05/14 22:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:19:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=216.2ms, total=216.3ms	[env.py: 1075]
+05/14 22:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.002, -0.453, -0.064)	[env.py: 1079]
+05/14 22:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.2 deg	[env.py: 1082]
+05/14 22:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.132m	[env.py: 1086]
+05/14 22:19:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:19:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:19:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:19:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:19:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:19:50 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:19:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:19:50 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]
+05/14 22:19:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:19:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:19:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.631s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:19:53 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:19:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:19:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:19:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:19:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:19:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:19:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:19:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:19:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:19:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:19:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:19:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044829m	[env.py: 870]
+05/14 22:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:19:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:19:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:19:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:19:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.10715573 -0.82522304  0.04482873] yaw=208.2deg	[env.py: 1019]
+05/14 22:19:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:19:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:19:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:19:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -169.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:19:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:19:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=201.7ms, total=201.8ms	[env.py: 1075]
+05/14 22:19:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.107, -0.825, 0.045)	[env.py: 1079]
+05/14 22:19:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 208.2 deg	[env.py: 1082]
+05/14 22:19:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.182m	[env.py: 1086]
+05/14 22:19:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:19:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:19:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:19:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:19:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:19:55 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:19:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:19:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:19:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:19:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:19:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.621s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:19:58 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:19:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:19:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:19:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:19:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:19:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:19:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:19:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:19:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:19:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:19:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:19:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090787m	[env.py: 870]
+05/14 22:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:19:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.20514585 -0.75632758  0.09078699] yaw=-165.4deg	[env.py: 1019]
+05/14 22:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.32305212 -0.16406655  0.09078699] yaw=-113.8deg	[env.py: 1019]
+05/14 22:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.19159939 -0.87730213  0.09078699] yaw=156.9deg	[env.py: 1019]
+05/14 22:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:19:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=256.4ms, total=256.5ms	[env.py: 1075]
+05/14 22:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.205, -0.756, 0.091)	[env.py: 1079]
+05/14 22:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.4 deg	[env.py: 1082]
+05/14 22:19:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m	[env.py: 1086]
+05/14 22:19:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:19:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:19:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:19:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:20:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:20:00 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:20:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:20:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:20:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:20:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:20:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.190s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:20:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.649[m] 111.230[deg]	[grasp_sample.py: 539]
+05/14 22:20:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:20:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:20:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:20:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:20:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:20:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:20:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:20:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:20:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:20:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:20:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:20:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:20:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:20:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:20:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:20:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:20:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:20:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:20:38 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:20:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:20:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:20:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:20:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:20:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:20:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:20:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.930s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:20:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.494[m] 76.579[deg]	[grasp_sample.py: 539]
+05/14 22:20:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:20:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:20:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:20:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:20:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:20:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:20:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:20:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:20:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:20:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:20:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:20:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:20:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:20:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:20:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:20:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:20:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:20:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.885s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:20:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.494[m] 76.582[deg]	[grasp_sample.py: 539]
+05/14 22:20:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:20:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:20:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:20:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:20:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:20:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:20:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:21:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:21:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:21:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:21:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:21:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:21:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:21:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:21:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:21:06 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/14 22:21:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/14 22:21:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:21:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:21:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:21:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:21:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:21:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:21:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:21:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:21:08 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.660s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:21:08 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.767[deg]	[grasp_sample.py: 539]
+05/14 22:21:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:21:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:21:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:21:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:21:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:21:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:21:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:21:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:21:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:21:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.001s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:21:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.494[m] 76.582[deg]	[grasp_sample.py: 539]
+05/14 22:21:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:21:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:21:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:21:11 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:21:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:21:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:21:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:21:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:21:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:21:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:21:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:21:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[save_utils.py: 785]
+05/14 22:21:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.60s (batch: 4.21s, save: 11.39s)	[pipeline.py: 300]
+05/14 22:21:22 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.84s:
+  episode_total: mean=153.68s, total=307.36s, count=2, min=125278.4ms, max=182079.7ms
+  sensor_polling: mean=412.7ms, total=223.66s, count=542, min=383.5ms, max=905.0ms
+  physics_step: mean=24.0ms, total=13.03s, count=542, min=17.4ms, max=44.8ms
+  save_trajectories: mean=11.39s, total=11.39s, count=1, min=11392.3ms, max=11392.3ms
+  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4211.6ms, max=4211.6ms
+  task_sampling: mean=422.5ms, total=844.9ms, count=2, min=364.2ms, max=480.7ms
+  task_specific_sample: mean=418.8ms, total=837.7ms, count=2, min=360.7ms, max=477.0ms
+  scene_randomize: mean=1.3ms, total=2.7ms, count=2, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=464.1us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.2us, 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]
+05/14 22:21:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:21:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:21:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:21:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:21:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:21:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:21:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:21:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:21:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:21:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.021m, effective arm-mount z=0.839m (base_body_z=-0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020511m	[env.py: 870]
+05/14 22:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:21:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 122.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 109.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 152.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.20956163 -0.19311158 -0.0205113 ] yaw=-116.7deg	[env.py: 1019]
+05/14 22:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.24930917 -0.86274442 -0.0205113 ] yaw=151.2deg	[env.py: 1019]
+05/14 22:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.24150676 -0.55663843 -0.0205113 ] yaw=-159.9deg	[env.py: 1019]
+05/14 22:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:21:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=205.6ms, total=205.6ms	[env.py: 1075]
+05/14 22:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.210, -0.193, -0.021)	[env.py: 1079]
+05/14 22:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -116.7 deg	[env.py: 1082]
+05/14 22:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m	[env.py: 1086]
+05/14 22:21:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:21:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:21:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:21:23 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:21:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:21:24 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]
+05/14 22:21:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:21:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:21:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:21:24 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/14 22:21:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:21:24 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/14 22:21:24 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=False episode_total=2.17s:
+  episode_total: mean=58.37s, total=233.47s, count=4, min=3233.9ms, max=141966.8ms
+  sensor_polling: mean=451.4ms, total=154.38s, count=342, min=403.7ms, max=863.7ms
+  physics_step: mean=23.8ms, total=8.15s, count=342, min=14.5ms, max=41.3ms
+  task_sampling: mean=543.2ms, total=2.17s, count=4, min=469.8ms, max=706.1ms
+  task_specific_sample: mean=539.5ms, total=2.16s, count=4, min=465.7ms, max=701.8ms
+  scene_randomize: mean=1.8ms, total=7.2ms, count=4, min=1.3ms, max=2.6ms
+  mj_forward_sync: mean=452.7us, total=1.8ms, count=4, min=0.4ms, max=0.5ms
+  policy_setup: mean=19.6us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:21:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:21:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:21:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:21:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:21:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:21:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:21:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:21:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:21:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:21:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:21:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075841m	[env.py: 870]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:21:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 122.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.18260553 -0.75054912  0.07584142] yaw=-176.5deg	[env.py: 1019]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.16343283 -0.5859014   0.07584142] yaw=-150.0deg	[env.py: 1019]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:21:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=181.6ms, total=181.6ms	[env.py: 1075]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.183, -0.751, 0.076)	[env.py: 1079]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.5 deg	[env.py: 1082]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m	[env.py: 1086]
+05/14 22:21:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:21:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:21:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:21:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:21:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:21:26 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:21:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:21:26 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]
+05/14 22:21:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:21:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:21:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.946s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:21:27 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.490[m] 80.823[deg]	[grasp_sample.py: 539]
+05/14 22:21:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:21:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:21:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:21:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.027s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:21:28 INFO: [Worker 0] Feasible grasp found 117 (originally 2): w/ 0.802[m] 105.020[deg]	[grasp_sample.py: 539]
+05/14 22:21:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:21:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:21:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:21:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:21:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:21:38 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/14 22:21:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 22:21:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:21:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:21:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[save_utils.py: 785]
+05/14 22:21:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 21.10s (batch: 5.41s, save: 15.69s)	[pipeline.py: 300]
+05/14 22:22:00 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.92s:
+  episode_total: mean=106.25s, total=212.49s, count=2, min=3214.2ms, max=209278.5ms
+  sensor_polling: mean=427.3ms, total=128.20s, count=300, min=380.7ms, max=875.9ms
+  save_trajectories: mean=15.69s, total=15.69s, count=1, min=15691.3ms, max=15691.3ms
+  physics_step: mean=25.5ms, total=7.65s, count=300, min=16.9ms, max=71.2ms
+  save_batch_prep: mean=5.41s, total=5.41s, count=1, min=5410.8ms, max=5410.8ms
+  task_sampling: mean=458.6ms, total=917.2ms, count=2, min=391.3ms, max=526.0ms
+  task_specific_sample: mean=454.1ms, total=908.2ms, count=2, min=387.8ms, max=520.4ms
+  scene_randomize: mean=2.7ms, total=5.3ms, count=2, min=1.2ms, max=4.2ms
+  mj_forward_sync: mean=451.9us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=19.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:22:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:22:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:22:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:22:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:22:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:22:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:22:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:22:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:22:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:22:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:22:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.086m, effective arm-mount z=0.774m (base_body_z=-0.086m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.085511m	[env.py: 870]
+05/14 22:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:22:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.02506896 -0.3675524  -0.08551132] yaw=-148.0deg	[env.py: 1019]
+05/14 22:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.08079364 -0.90938635 -0.08551132] yaw=172.9deg	[env.py: 1019]
+05/14 22:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.28498547 -0.13742622 -0.08551132] yaw=-112.8deg	[env.py: 1019]
+05/14 22:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:22:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=129.8ms, total=129.8ms	[env.py: 1075]
+05/14 22:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.025, -0.368, -0.086)	[env.py: 1079]
+05/14 22:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.0 deg	[env.py: 1082]
+05/14 22:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.141m	[env.py: 1086]
+05/14 22:22:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:22:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:22:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:22:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:22:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:22:02 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:22:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:22:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:22:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:22:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:22:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.606s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:22:05 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:22:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:22:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:22:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:22:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:22:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:22:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:22:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:22:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:22:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014456m	[env.py: 870]
+05/14 22:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:22:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 123.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.24184446 -0.68717268  0.01445637] yaw=-164.9deg	[env.py: 1019]
+05/14 22:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.04771874 -0.93578651  0.01445637] yaw=159.4deg	[env.py: 1019]
+05/14 22:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.29506839 -0.14624315  0.01445637] yaw=-135.4deg	[env.py: 1019]
+05/14 22:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:22:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.7ms, total=202.8ms	[env.py: 1075]
+05/14 22:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.242, -0.687, 0.014)	[env.py: 1079]
+05/14 22:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.9 deg	[env.py: 1082]
+05/14 22:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m	[env.py: 1086]
+05/14 22:22:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:22:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:22:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:22:06 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:22:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:22:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:22:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:22:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:22:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.725s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:22:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.458[m] 103.376[deg]	[grasp_sample.py: 539]
+05/14 22:22:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:22:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:22:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:22:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:22:10 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:22:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:22:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:22:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:22:36 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/14 22:22:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 22:22:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:22:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:22:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:22:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:22:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:22:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[save_utils.py: 785]
+05/14 22:22:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.74s (batch: 4.48s, save: 11.26s)	[pipeline.py: 300]
+05/14 22:22:53 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.61s:
+  episode_total: mean=68.24s, total=204.71s, count=3, min=3335.0ms, max=193994.8ms
+  sensor_polling: mean=463.7ms, total=139.12s, count=300, min=404.2ms, max=966.1ms
+  save_trajectories: mean=11.26s, total=11.26s, count=1, min=11264.9ms, max=11264.9ms
+  physics_step: mean=25.0ms, total=7.49s, count=300, min=21.2ms, max=78.6ms
+  save_batch_prep: mean=4.48s, total=4.48s, count=1, min=4479.5ms, max=4479.5ms
+  task_sampling: mean=535.7ms, total=1.61s, count=3, min=416.1ms, max=682.0ms
+  task_specific_sample: mean=531.9ms, total=1.60s, count=3, min=412.2ms, max=678.0ms
+  scene_randomize: mean=2.0ms, total=5.9ms, count=3, min=1.5ms, max=2.6ms
+  mj_forward_sync: mean=499.9us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=17.4us, 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]
+05/14 22:22:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:22:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:22:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:22:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:22:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:22:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:22:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:22:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:22:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:22:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:22:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:22:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042121m	[env.py: 870]
+05/14 22:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:22:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18167 free points within sampling radius	[env.py: 907]
+05/14 22:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 152.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 159.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.03755645 -0.55846938  0.04212135] yaw=-161.9deg	[env.py: 1019]
+05/14 22:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.19260081 -0.17196052  0.04212135] yaw=-138.0deg	[env.py: 1019]
+05/14 22:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.07717732 -0.8957984   0.04212135] yaw=189.5deg	[env.py: 1019]
+05/14 22:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:22:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=166.5ms, total=166.6ms	[env.py: 1075]
+05/14 22:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.038, -0.558, 0.042)	[env.py: 1079]
+05/14 22:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.9 deg	[env.py: 1082]
+05/14 22:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m	[env.py: 1086]
+05/14 22:22:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:22:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:22:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:22:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:22:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:22:55 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:22:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:22:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:22:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:22:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:22:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.793s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:22:57 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.806[m] 117.858[deg]	[grasp_sample.py: 539]
+05/14 22:22:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:22:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:22:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:22:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:22:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:23:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:23:40 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:23:55 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:24:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:24:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:24:07 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/14 22:24:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/14 22:24:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:24:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:24:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:24:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:24:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:24:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:24:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:24:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:24:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:24:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:24:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:24:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:24:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:24:17 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.806s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:24:17 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.104[m] 0.297[deg]	[grasp_sample.py: 539]
+05/14 22:24:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:24:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:24:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:24:22 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/14 22:24:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 22:24:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:24:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:24:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[save_utils.py: 785]
+05/14 22:24:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.75s (batch: 4.13s, save: 11.62s)	[pipeline.py: 300]
+05/14 22:24:23 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.50s:
+  episode_total: mean=179.79s, total=179.79s, count=1, min=179792.9ms, max=179792.9ms
+  sensor_polling: mean=409.8ms, total=122.95s, count=300, min=387.2ms, max=857.6ms
+  save_trajectories: mean=11.62s, total=11.62s, count=1, min=11622.6ms, max=11622.6ms
+  physics_step: mean=22.9ms, total=6.88s, count=300, min=16.7ms, max=30.1ms
+  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4130.7ms, max=4130.7ms
+  task_sampling: mean=497.8ms, total=497.8ms, count=1, min=497.8ms, max=497.8ms
+  task_specific_sample: mean=493.9ms, total=493.9ms, count=1, min=493.9ms, max=493.9ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=453.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=23.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:24:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:24:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:24:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:24:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:24:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:24:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:24:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:24:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:24:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:24:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:24:24 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]
+05/14 22:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091666m	[env.py: 870]
+05/14 22:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:24:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 152.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 139.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 147.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.50104602 -0.2503293   0.09166636] yaw=-143.0deg	[env.py: 1019]
+05/14 22:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:24:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=291.5ms, total=291.5ms	[env.py: 1075]
+05/14 22:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.501, -0.250, 0.092)	[env.py: 1079]
+05/14 22:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.0 deg	[env.py: 1082]
+05/14 22:24:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m	[env.py: 1086]
+05/14 22:24:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:24:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:24:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:24:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:24:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:24:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:24:25 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:24:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:24:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:24:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:24:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:24:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.377s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:24:27 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.538[m] 129.596[deg]	[grasp_sample.py: 539]
+05/14 22:24:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:24:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:24:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:24:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:24:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:24:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:24:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:24:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:24:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[save_utils.py: 785]
+05/14 22:24:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.63s (batch: 4.38s, save: 11.25s)	[pipeline.py: 300]
+05/14 22:24:39 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.44s:
+  episode_total: mean=193.05s, total=193.05s, count=1, min=193054.9ms, max=193054.9ms
+  sensor_polling: mean=452.9ms, total=135.87s, count=300, min=400.0ms, max=881.7ms
+  save_trajectories: mean=11.25s, total=11.25s, count=1, min=11251.1ms, max=11251.1ms
+  physics_step: mean=26.4ms, total=7.92s, count=300, min=17.4ms, max=66.6ms
+  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4382.6ms, max=4382.6ms
+  task_sampling: mean=444.3ms, total=444.3ms, count=1, min=444.3ms, max=444.3ms
+  task_specific_sample: mean=441.8ms, total=441.8ms, count=1, min=441.8ms, max=441.8ms
+  scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
+  mj_forward_sync: mean=442.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:24:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:24:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:24:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:24:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:24:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:24:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:24:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:24:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:24:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:24:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:24:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.080m, effective arm-mount z=0.780m (base_body_z=-0.080m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.080477m	[env.py: 870]
+05/14 22:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:24:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.43899244 -0.23775344 -0.0804772 ] yaw=-129.7deg	[env.py: 1019]
+05/14 22:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.03957393 -1.04475162 -0.0804772 ] yaw=169.0deg	[env.py: 1019]
+05/14 22:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.2128411  -1.01030725 -0.0804772 ] yaw=190.0deg	[env.py: 1019]
+05/14 22:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:24:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=168.6ms, total=168.7ms	[env.py: 1075]
+05/14 22:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.439, -0.238, -0.080)	[env.py: 1079]
+05/14 22:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.7 deg	[env.py: 1082]
+05/14 22:24:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m	[env.py: 1086]
+05/14 22:24:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:24:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:24:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:24:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:24:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:24:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:24:41 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:24:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:24:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:24:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:24:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:24:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.808s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:24:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.495[m] 78.402[deg]	[grasp_sample.py: 539]
+05/14 22:24:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:24:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:24:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:24:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:24:43 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:25:13 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/14 22:25:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 22:25:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:25:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:25:22 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:25:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:25:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:25:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:25:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:25:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[save_utils.py: 785]
+05/14 22:25:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 18.30s (batch: 6.80s, save: 11.50s)	[pipeline.py: 300]
+05/14 22:25:32 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.89s:
+  episode_total: mean=104.83s, total=209.66s, count=2, min=3223.4ms, max=206439.1ms
+  sensor_polling: mean=447.5ms, total=134.24s, count=300, min=380.6ms, max=900.8ms
+  save_trajectories: mean=11.50s, total=11.50s, count=1, min=11496.6ms, max=11496.6ms
+  physics_step: mean=25.2ms, total=7.56s, count=300, min=15.9ms, max=64.2ms
+  save_batch_prep: mean=6.80s, total=6.80s, count=1, min=6803.0ms, max=6803.0ms
+  task_sampling: mean=446.3ms, total=892.6ms, count=2, min=420.6ms, max=472.1ms
+  task_specific_sample: mean=441.7ms, total=883.4ms, count=2, min=414.6ms, max=468.8ms
+  scene_randomize: mean=2.6ms, total=5.3ms, count=2, min=1.2ms, max=4.1ms
+  mj_forward_sync: mean=623.5us, total=1.2ms, count=2, min=0.4ms, max=0.8ms
+  policy_setup: mean=19.2us, 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]
+05/14 22:25:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:25:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:25:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:25:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:25:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:25:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:25:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:25:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:25:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:25:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:25:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.086m, effective arm-mount z=0.946m (base_body_z=0.086m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085516m	[env.py: 870]
+05/14 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:25:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.26694714 -0.98482444  0.08551637] yaw=164.0deg	[env.py: 1019]
+05/14 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.19699992 -0.38442035  0.08551637] yaw=-148.1deg	[env.py: 1019]
+05/14 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 135.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.18983478 -1.11632927  0.08551637] yaw=146.4deg	[env.py: 1019]
+05/14 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:25:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=211.9ms, total=211.9ms	[env.py: 1075]
+05/14 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.267, -0.985, 0.086)	[env.py: 1079]
+05/14 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.0 deg	[env.py: 1082]
+05/14 22:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m	[env.py: 1086]
+05/14 22:25:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:25:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:25:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:25:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:25:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:25:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:25:35 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:25:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:25:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:25:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:25:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:25:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.105s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:25:36 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.539[m] 125.675[deg]	[grasp_sample.py: 539]
+05/14 22:25:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:25:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:25:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:25:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:25:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:25:50 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/14 22:25:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 22:25:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:26:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:26:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[save_utils.py: 785]
+05/14 22:26:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.09s (batch: 4.36s, save: 10.73s)	[pipeline.py: 300]
+05/14 22:26:06 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.51s:
+  episode_total: mean=192.09s, total=192.09s, count=1, min=192094.4ms, max=192094.4ms
+  sensor_polling: mean=450.6ms, total=135.17s, count=300, min=367.0ms, max=913.5ms
+  save_trajectories: mean=10.73s, total=10.73s, count=1, min=10728.6ms, max=10728.6ms
+  physics_step: mean=24.8ms, total=7.44s, count=300, min=16.9ms, max=36.2ms
+  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4359.6ms, max=4359.6ms
+  task_sampling: mean=508.9ms, total=508.9ms, count=1, min=508.9ms, max=508.9ms
+  task_specific_sample: mean=504.8ms, total=504.8ms, count=1, min=504.8ms, max=504.8ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=458.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:26:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:26:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:26:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:26:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:26:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:26:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:26:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:26:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:26:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:26:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:26:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.037m, effective arm-mount z=0.823m (base_body_z=-0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.036555m	[env.py: 870]
+05/14 22:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:26:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18167 free points within sampling radius	[env.py: 907]
+05/14 22:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 136.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 110.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.06828878 -0.91234707 -0.03655538] yaw=158.8deg	[env.py: 1019]
+05/14 22:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.05241277 -1.16899842 -0.03655538] yaw=136.4deg	[env.py: 1019]
+05/14 22:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:26:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=593.9ms, total=593.9ms	[env.py: 1075]
+05/14 22:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.068, -0.912, -0.037)	[env.py: 1079]
+05/14 22:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.8 deg	[env.py: 1082]
+05/14 22:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.011m	[env.py: 1086]
+05/14 22:26:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:26:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:26:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:26:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:26:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:26:09 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:26:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:26:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:26:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:26:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:26:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.185s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:26:10 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.627[m] 76.993[deg]	[grasp_sample.py: 539]
+05/14 22:26:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:26:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:26:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:26:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:26:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:26:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:26:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:26:44 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:26:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:26:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:26:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:26:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:26:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:26:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:27:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:27:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:27:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:27:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:27:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:27:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:27:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:27:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:27:05 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.628s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:27:05 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.379[deg]	[grasp_sample.py: 539]
+05/14 22:27:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:27:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:27:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:27:09 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/14 22:27:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/14 22:27:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:27:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:27:16 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:27:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:27:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:27:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:27:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:27:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:27:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:27:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:27:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[save_utils.py: 785]
+05/14 22:27:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.81s (batch: 3.65s, save: 11.17s)	[pipeline.py: 300]
+05/14 22:27:25 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.62s:
+  episode_total: mean=180.68s, total=180.68s, count=1, min=180683.4ms, max=180683.4ms
+  sensor_polling: mean=421.0ms, total=126.29s, count=300, min=384.6ms, max=909.5ms
+  save_trajectories: mean=11.17s, total=11.17s, count=1, min=11166.8ms, max=11166.8ms
+  physics_step: mean=24.0ms, total=7.21s, count=300, min=17.0ms, max=66.5ms
+  save_batch_prep: mean=3.65s, total=3.65s, count=1, min=3645.7ms, max=3645.7ms
+  task_sampling: mean=620.6ms, total=620.6ms, count=1, min=620.6ms, max=620.6ms
+  task_specific_sample: mean=616.5ms, total=616.5ms, count=1, min=616.5ms, max=616.5ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=454.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=26.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:27:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:27:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:27:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:27:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:27:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:27:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:27:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:27:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:27:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:27:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:27:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:27:26 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]
+05/14 22:27:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:27:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:27:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045477m	[env.py: 870]
+05/14 22:27:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:27:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:27:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:27:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.15591845 -0.12172088 -0.04547735] yaw=-134.3deg	[env.py: 1019]
+05/14 22:27:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:27:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:27:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:27:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:27:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:27:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=237.2ms, total=237.3ms	[env.py: 1075]
+05/14 22:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.156, -0.122, -0.045)	[env.py: 1079]
+05/14 22:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.3 deg	[env.py: 1082]
+05/14 22:27:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.151m	[env.py: 1086]
+05/14 22:27:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:27:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:27:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:27:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:27:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:27:27 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:27:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:27:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:27:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:27:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:27:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:27:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:27:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:27:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:27:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:27:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:27:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:27:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.665s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:27:30 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:27:30 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.772s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:27:30 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.275[deg]	[grasp_sample.py: 539]
+05/14 22:27:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:27:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:27:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:27:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:27:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:27:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:27:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:27:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:27:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:27:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:27:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.047m, effective arm-mount z=0.813m (base_body_z=-0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.047216m	[env.py: 870]
+05/14 22:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:27:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.14542536 -1.13854308 -0.04721564] yaw=141.9deg	[env.py: 1019]
+05/14 22:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.56044271 -0.11884908 -0.04721564] yaw=-133.9deg	[env.py: 1019]
+05/14 22:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.08882604 -1.05489505 -0.04721564] yaw=144.5deg	[env.py: 1019]
+05/14 22:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:27:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=212.3ms, total=212.3ms	[env.py: 1075]
+05/14 22:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.145, -1.139, -0.047)	[env.py: 1079]
+05/14 22:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 141.9 deg	[env.py: 1082]
+05/14 22:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
+05/14 22:27:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:27:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:27:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:27:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:27:31 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 22:27:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:27:32 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:27:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:27:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:27:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:27:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:27:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:27:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:27:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:27:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:27:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:27:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:27:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:27:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:27:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:27:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:27:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095953m	[env.py: 870]
+05/14 22:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:27:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.04370195 -0.86167184  0.09595314] yaw=166.7deg	[env.py: 1019]
+05/14 22:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.57013658 -0.06790796  0.09595314] yaw=-120.5deg	[env.py: 1019]
+05/14 22:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.54033892 -0.17438452  0.09595314] yaw=-151.6deg	[env.py: 1019]
+05/14 22:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:27:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.5ms, total=121.6ms	[env.py: 1075]
+05/14 22:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.044, -0.862, 0.096)	[env.py: 1079]
+05/14 22:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.7 deg	[env.py: 1082]
+05/14 22:27:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m	[env.py: 1086]
+05/14 22:27:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:27:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:27:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:27:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:27:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.620s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:27:34 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.535[m] 100.182[deg]	[grasp_sample.py: 539]
+05/14 22:27:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:27:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:27:35 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:27:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:27:35 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]
+05/14 22:27:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:27:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:27:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:27:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:27:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:27:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.933s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:27:36 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.555[m] 74.825[deg]	[grasp_sample.py: 539]
+05/14 22:27:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:27:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:27:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:27:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:27:43 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/14 22:27:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 22:27:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:28:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:28:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[save_utils.py: 785]
+05/14 22:28:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 18.26s (batch: 4.94s, save: 13.32s)	[pipeline.py: 300]
+05/14 22:28:02 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.51s:
+  episode_total: mean=202.39s, total=202.39s, count=1, min=202385.9ms, max=202385.9ms
+  sensor_polling: mean=437.7ms, total=131.32s, count=300, min=400.3ms, max=937.8ms
+  save_trajectories: mean=13.32s, total=13.32s, count=1, min=13317.3ms, max=13317.3ms
+  physics_step: mean=24.2ms, total=7.26s, count=300, min=21.4ms, max=49.7ms
+  save_batch_prep: mean=4.94s, total=4.94s, count=1, min=4944.4ms, max=4944.4ms
+  task_sampling: mean=513.5ms, total=513.5ms, count=1, min=513.5ms, max=513.5ms
+  task_specific_sample: mean=509.4ms, total=509.4ms, count=1, min=509.4ms, max=509.4ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=444.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:28:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:28:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:28:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:28:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:28:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:28:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:28:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:28:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:28:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:28:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:28:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.017m, effective arm-mount z=0.843m (base_body_z=-0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:28:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:28:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:28:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.016788m	[env.py: 870]
+05/14 22:28:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:28:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:28:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:28:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 134.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:28:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.01464321 -0.33375674 -0.01678777] yaw=-183.1deg	[env.py: 1019]
+05/14 22:28:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:28:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:28:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:28:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 148.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:28:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.18032591 -0.09177993 -0.01678777] yaw=-152.2deg	[env.py: 1019]
+05/14 22:28:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:28:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:28:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=518.2ms, total=518.3ms	[env.py: 1075]
+05/14 22:28:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.015, -0.334, -0.017)	[env.py: 1079]
+05/14 22:28:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -183.1 deg	[env.py: 1082]
+05/14 22:28:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.164m	[env.py: 1086]
+05/14 22:28:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:28:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:28:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:28:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:28:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:28:05 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:28:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:28:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:28:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:28:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:28:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.648s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:28:08 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:28:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:28:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:28:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:28:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:28:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:28:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:28:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:28:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:28:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:28:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:28:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:28:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:28:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:28:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045020m	[env.py: 870]
+05/14 22:28:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:28:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:28:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:28:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.09831555 -0.80053756  0.04502003] yaw=-165.2deg	[env.py: 1019]
+05/14 22:28:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:28:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:28:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 149.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:28:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:28:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 178.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:28:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.118397   -1.1847144   0.04502003] yaw=162.1deg	[env.py: 1019]
+05/14 22:28:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:28:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.20301292 -0.24145401  0.04502003] yaw=-135.3deg	[env.py: 1019]
+05/14 22:28:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:28:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:28:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=165.0ms, total=165.0ms	[env.py: 1075]
+05/14 22:28:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.098, -0.801, 0.045)	[env.py: 1079]
+05/14 22:28:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.2 deg	[env.py: 1082]
+05/14 22:28:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m	[env.py: 1086]
+05/14 22:28:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:28:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:28:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:28:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:28:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:28:09 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:28:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:28:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:28:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:28:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:28:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.881s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:28:10 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.653[m] 81.770[deg]	[grasp_sample.py: 539]
+05/14 22:28:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:28:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:28:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:28:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:28:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:28:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:28:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:28:31 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:28:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:28:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:28:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:28:57 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/14 22:28:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 22:28:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:29:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:29:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:29:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[save_utils.py: 785]
+05/14 22:29:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.58s (batch: 4.10s, save: 11.48s)	[pipeline.py: 300]
+05/14 22:29:13 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.91s:
+  episode_total: mean=185.83s, total=185.83s, count=1, min=185831.4ms, max=185831.4ms
+  sensor_polling: mean=437.4ms, total=131.21s, count=300, min=397.4ms, max=966.0ms
+  save_trajectories: mean=11.48s, total=11.48s, count=1, min=11477.0ms, max=11477.0ms
+  physics_step: mean=24.8ms, total=7.44s, count=300, min=18.4ms, max=59.9ms
+  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4102.6ms, max=4102.6ms
+  task_sampling: mean=907.7ms, total=907.7ms, count=1, min=907.7ms, max=907.7ms
+  task_specific_sample: mean=903.5ms, total=903.5ms, count=1, min=903.5ms, max=903.5ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=459.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.9us, 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]
+05/14 22:29:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:29:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:29:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:29:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:29:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:29:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:29:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:29:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:29:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:29:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:29:15 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]
+05/14 22:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.031010m	[env.py: 870]
+05/14 22:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:29:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18167 free points within sampling radius	[env.py: 907]
+05/14 22:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.13937734 -1.10565414 -0.03101005] yaw=156.5deg	[env.py: 1019]
+05/14 22:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.57385273 -0.12655545 -0.03101005] yaw=-126.2deg	[env.py: 1019]
+05/14 22:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.33780246 -0.30335769 -0.03101005] yaw=-160.4deg	[env.py: 1019]
+05/14 22:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:29:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=105.3ms, total=105.4ms	[env.py: 1075]
+05/14 22:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.139, -1.106, -0.031)	[env.py: 1079]
+05/14 22:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.5 deg	[env.py: 1082]
+05/14 22:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m	[env.py: 1086]
+05/14 22:29:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:29:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:29:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:29:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:29:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:29:15 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:29:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:29:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:29:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:29:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:29:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.839s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:29:17 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.530[m] 60.055[deg]	[grasp_sample.py: 539]
+05/14 22:29:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:29:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:29:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:29:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:29:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:29:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:29:52 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:30:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:30:09 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:30:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:30:18 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/14 22:30:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/14 22:30:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:30:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:30:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:30:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[save_utils.py: 785]
+05/14 22:30:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.98s (batch: 3.90s, save: 11.07s)	[pipeline.py: 300]
+05/14 22:30:34 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.04s:
+  episode_total: mean=93.02s, total=186.04s, count=2, min=3404.7ms, max=182634.5ms
+  sensor_polling: mean=421.1ms, total=126.33s, count=300, min=394.3ms, max=826.9ms
+  save_trajectories: mean=11.07s, total=11.07s, count=1, min=11074.4ms, max=11074.4ms
+  physics_step: mean=24.8ms, total=7.43s, count=300, min=21.4ms, max=37.8ms
+  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3901.6ms, max=3901.6ms
+  task_sampling: mean=521.6ms, total=1.04s, count=2, min=496.2ms, max=547.1ms
+  task_specific_sample: mean=517.9ms, total=1.04s, count=2, min=493.1ms, max=542.8ms
+  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.2ms, max=2.9ms
+  mj_forward_sync: mean=455.3us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:30:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:30:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:30:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:30:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:30:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:30:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:30:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:30:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:30:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:30:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:30:35 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]
+05/14 22:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.044688m	[env.py: 870]
+05/14 22:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:30:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.00739418 -0.95194016 -0.04468803] yaw=172.8deg	[env.py: 1019]
+05/14 22:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.24397074 -0.8028092  -0.04468803] yaw=-175.2deg	[env.py: 1019]
+05/14 22:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.23131322 -1.24080623 -0.04468803] yaw=163.3deg	[env.py: 1019]
+05/14 22:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:30:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=259.2ms, total=259.2ms	[env.py: 1075]
+05/14 22:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.007, -0.952, -0.045)	[env.py: 1079]
+05/14 22:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.8 deg	[env.py: 1082]
+05/14 22:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m	[env.py: 1086]
+05/14 22:30:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:30:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:30:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:30:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:30:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:30:36 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:30:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.130s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:30:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:30:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:30:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:30:36 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/14 22:30:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 22:30:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:30:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.923s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:30:37 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.617[m] 87.468[deg]	[grasp_sample.py: 539]
+05/14 22:30:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:30:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:30:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:30:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:30:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:30:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:30:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:30:41 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:30:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:30:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[save_utils.py: 785]
+05/14 22:30:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 16.60s (batch: 5.12s, save: 11.48s)	[pipeline.py: 300]
+05/14 22:30:54 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.00s:
+  episode_total: mean=158.31s, total=316.63s, count=2, min=116853.7ms, max=199775.0ms
+  sensor_polling: mean=427.1ms, total=223.39s, count=523, min=384.2ms, max=837.1ms
+  physics_step: mean=25.5ms, total=13.33s, count=523, min=17.0ms, max=34.6ms
+  save_trajectories: mean=11.48s, total=11.48s, count=1, min=11479.2ms, max=11479.2ms
+  save_batch_prep: mean=5.12s, total=5.12s, count=1, min=5123.5ms, max=5123.5ms
+  task_sampling: mean=500.8ms, total=1.00s, count=2, min=398.9ms, max=602.6ms
+  task_specific_sample: mean=496.5ms, total=993.1ms, count=2, min=394.9ms, max=598.2ms
+  scene_randomize: mean=2.3ms, total=4.7ms, count=2, min=1.7ms, max=3.0ms
+  mj_forward_sync: mean=464.7us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:30:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:30:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:30:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:30:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:30:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:30:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:30:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:30:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:30:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:30:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:30:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001177m	[env.py: 870]
+05/14 22:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:30:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 169.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.04937782 -0.97342511  0.0011774 ] yaw=188.0deg	[env.py: 1019]
+05/14 22:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.42800995  0.14186444  0.0011774 ] yaw=-131.5deg	[env.py: 1019]
+05/14 22:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:30:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=171.6ms, total=171.6ms	[env.py: 1075]
+05/14 22:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.049, -0.973, 0.001)	[env.py: 1079]
+05/14 22:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 188.0 deg	[env.py: 1082]
+05/14 22:30:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m	[env.py: 1086]
+05/14 22:30:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:30:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:30:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:30:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:30:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:30:57 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:30:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:30:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:30:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:30:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:30:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.062s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:30:58 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.645[m] 86.800[deg]	[grasp_sample.py: 539]
+05/14 22:30:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:30:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:30:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:30:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:31:09 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/14 22:31:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 22:31:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:31:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:31:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[save_utils.py: 785]
+05/14 22:31:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.18s (batch: 4.33s, save: 10.86s)	[pipeline.py: 300]
+05/14 22:31:25 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=1.31s:
+  episode_total: mean=99.87s, total=199.74s, count=2, min=3712.2ms, max=196024.4ms
+  sensor_polling: mean=440.4ms, total=132.12s, count=300, min=404.4ms, max=953.0ms
+  save_trajectories: mean=10.86s, total=10.86s, count=1, min=10855.5ms, max=10855.5ms
+  physics_step: mean=24.6ms, total=7.37s, count=300, min=17.4ms, max=33.4ms
+  save_batch_prep: mean=4.33s, total=4.33s, count=1, min=4327.9ms, max=4327.9ms
+  task_sampling: mean=653.3ms, total=1.31s, count=2, min=449.5ms, max=857.2ms
+  task_specific_sample: mean=648.6ms, total=1.30s, count=2, min=444.7ms, max=852.6ms
+  scene_randomize: mean=2.8ms, total=5.6ms, count=2, min=2.5ms, max=3.1ms
+  mj_forward_sync: mean=534.3us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=23.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:31:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:31:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:31:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:31:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:31:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:31:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:31:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:31:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:31:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:31:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:31:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039228m	[env.py: 870]
+05/14 22:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:31:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.16099402 -0.19076723  0.0392283 ] yaw=-127.9deg	[env.py: 1019]
+05/14 22:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.01881975 -0.48853124  0.0392283 ] yaw=-166.3deg	[env.py: 1019]
+05/14 22:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.17471346 -1.14760096  0.0392283 ] yaw=146.7deg	[env.py: 1019]
+05/14 22:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:31:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.9ms, total=129.0ms	[env.py: 1075]
+05/14 22:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.161, -0.191, 0.039)	[env.py: 1079]
+05/14 22:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.9 deg	[env.py: 1082]
+05/14 22:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.107m	[env.py: 1086]
+05/14 22:31:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:31:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:31:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:31:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:31:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:31:27 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:31:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:31:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:31:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:31:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:31:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.790s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:31:31 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/14 22:31:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:31:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:31:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:31:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:31:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:31:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:31:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:31:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:31:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.083m, effective arm-mount z=0.777m (base_body_z=-0.083m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.083358m	[env.py: 870]
+05/14 22:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:31:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 136.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 132.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 131.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 114.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:31:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.02019253 -0.99959596 -0.0833583 ] yaw=187.2deg	[env.py: 1019]
+05/14 22:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.13258425 -0.7628111  -0.0833583 ] yaw=-204.5deg	[env.py: 1019]
+05/14 22:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.36862506 -0.07472034 -0.0833583 ] yaw=-105.8deg	[env.py: 1019]
+05/14 22:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:31:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=217.0ms, total=217.0ms	[env.py: 1075]
+05/14 22:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.020, -1.000, -0.083)	[env.py: 1079]
+05/14 22:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 187.2 deg	[env.py: 1082]
+05/14 22:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.070m	[env.py: 1086]
+05/14 22:31:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:31:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:31:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:31:33 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:31:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:31:33 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]
+05/14 22:31:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:31:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:31:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.518s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:31:34 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.618[m] 84.869[deg]	[grasp_sample.py: 539]
+05/14 22:31:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:31:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:31:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:31:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:31:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:31:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:31:47 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:31:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:32:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:32:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:32:13 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/14 22:32:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 22:32:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:32:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:32:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[save_utils.py: 785]
+05/14 22:32:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.49s (batch: 4.09s, save: 11.40s)	[pipeline.py: 300]
+05/14 22:32:29 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.41s:
+  episode_total: mean=194.36s, total=194.36s, count=1, min=194363.0ms, max=194363.0ms
+  sensor_polling: mean=456.5ms, total=136.96s, count=300, min=409.8ms, max=948.9ms
+  save_trajectories: mean=11.40s, total=11.40s, count=1, min=11398.8ms, max=11398.8ms
+  physics_step: mean=25.7ms, total=7.70s, count=300, min=16.6ms, max=48.2ms
+  save_batch_prep: mean=4.09s, total=4.09s, count=1, min=4093.5ms, max=4093.5ms
+  task_sampling: mean=406.7ms, total=406.7ms, count=1, min=406.7ms, max=406.7ms
+  task_specific_sample: mean=402.7ms, total=402.7ms, count=1, min=402.7ms, max=402.7ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=452.9us, 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]
+05/14 22:32:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:32:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:32:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:32:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:32:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:32:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:32:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:32:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:32:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:32:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:32:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.067m, effective arm-mount z=0.793m (base_body_z=-0.067m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.067197m	[env.py: 870]
+05/14 22:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:32:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18167 free points within sampling radius	[env.py: 907]
+05/14 22:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.056138   -0.46921039 -0.06719677] yaw=-180.3deg	[env.py: 1019]
+05/14 22:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.31894736 -0.18102564 -0.06719677] yaw=-158.4deg	[env.py: 1019]
+05/14 22:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.48144484 -0.26465529 -0.06719677] yaw=-135.1deg	[env.py: 1019]
+05/14 22:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:32:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=153.7ms, total=153.7ms	[env.py: 1075]
+05/14 22:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.056, -0.469, -0.067)	[env.py: 1079]
+05/14 22:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.3 deg	[env.py: 1082]
+05/14 22:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.182m	[env.py: 1086]
+05/14 22:32:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:32:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:32:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:32:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:32:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:32:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:32:31 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:32:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:32:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:32:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:32:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:32:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.565s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:32:34 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:32:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:32:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:32:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:32:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:32:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:32:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:32:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:32:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:32:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:32:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:32:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:32:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:32:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:32:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061282m	[env.py: 870]
+05/14 22:32:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:32:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:32:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18167 free points within sampling radius	[env.py: 907]
+05/14 22:32:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.0270439  -1.16000258  0.0612822 ] yaw=139.3deg	[env.py: 1019]
+05/14 22:32:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:32:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:32:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:32:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:32:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.06813999 -0.45613347  0.0612822 ] yaw=-142.5deg	[env.py: 1019]
+05/14 22:32:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.41066982 -0.19963102  0.0612822 ] yaw=-158.6deg	[env.py: 1019]
+05/14 22:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:32:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.5ms, total=202.5ms	[env.py: 1075]
+05/14 22:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.027, -1.160, 0.061)	[env.py: 1079]
+05/14 22:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 139.3 deg	[env.py: 1082]
+05/14 22:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.154m	[env.py: 1086]
+05/14 22:32:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:32:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:32:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:32:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:32:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:32:36 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:32:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:32:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:32:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:32:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:32:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.663s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:32:39 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:32:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:32:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:32:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:32:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:32:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:32:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:32:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:32:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:32:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:32:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:32:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032836m	[env.py: 870]
+05/14 22:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:32:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18167 free points within sampling radius	[env.py: 907]
+05/14 22:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.30275982 -1.10921928  0.03283622] yaw=184.0deg	[env.py: 1019]
+05/14 22:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.01273621 -0.47428752  0.03283622] yaw=-161.1deg	[env.py: 1019]
+05/14 22:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:32:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=198.5ms, total=198.6ms	[env.py: 1075]
+05/14 22:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.303, -1.109, 0.033)	[env.py: 1079]
+05/14 22:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 184.0 deg	[env.py: 1082]
+05/14 22:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m	[env.py: 1086]
+05/14 22:32:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:32:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:32:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:32:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:32:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:32:40 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:32:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:32:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:32:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:32:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:32:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.854s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:32:41 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.353[m] 96.743[deg]	[grasp_sample.py: 539]
+05/14 22:32:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:32:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:32:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:32:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:32:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:32:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:32:54 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:33:12 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:33:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:33:19 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/14 22:33:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/14 22:33:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:33:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:33:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:33:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:33:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[save_utils.py: 785]
+05/14 22:33:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.76s (batch: 3.78s, save: 10.99s)	[pipeline.py: 300]
+05/14 22:33:35 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.63s:
+  episode_total: mean=179.66s, total=179.66s, count=1, min=179659.5ms, max=179659.5ms
+  sensor_polling: mean=422.3ms, total=126.69s, count=300, min=397.3ms, max=938.7ms
+  save_trajectories: mean=10.99s, total=10.99s, count=1, min=10985.3ms, max=10985.3ms
+  physics_step: mean=24.1ms, total=7.23s, count=300, min=16.6ms, max=36.0ms
+  save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3775.7ms, max=3775.7ms
+  task_sampling: mean=625.6ms, total=625.6ms, count=1, min=625.6ms, max=625.6ms
+  task_specific_sample: mean=621.2ms, total=621.2ms, count=1, min=621.2ms, max=621.2ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=472.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=27.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:33:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:33:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:33:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:33:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:33:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:33:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:33:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:33:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:33:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:33:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:33:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.037m, effective arm-mount z=0.823m (base_body_z=-0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.036858m	[env.py: 870]
+05/14 22:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:33:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 123.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.2152258  -0.14393468 -0.03685789] yaw=-165.1deg	[env.py: 1019]
+05/14 22:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:33:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=523.6ms, total=523.6ms	[env.py: 1075]
+05/14 22:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.215, -0.144, -0.037)	[env.py: 1079]
+05/14 22:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.1 deg	[env.py: 1082]
+05/14 22:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.091m	[env.py: 1086]
+05/14 22:33:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:33:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:33:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:33:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:33:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:33:37 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:33:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:33:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:33:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:33:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:33:39 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/14 22:33:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 22:33:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:33:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.541s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:33:40 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:33:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:33:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:33:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:33:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:33:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:33:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:33:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:33:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:33:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:33:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:33:41 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]
+05/14 22:33:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:33:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:33:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.050171m	[env.py: 870]
+05/14 22:33:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:33:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:33:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:33:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:33:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -165.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:33:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.28623864 -0.0555231  -0.05017145] yaw=-159.5deg	[env.py: 1019]
+05/14 22:33:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:33:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.07523115 -0.24580157 -0.05017145] yaw=-164.1deg	[env.py: 1019]
+05/14 22:33:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:33:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:33:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=363.9ms, total=364.0ms	[env.py: 1075]
+05/14 22:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.286, -0.056, -0.050)	[env.py: 1079]
+05/14 22:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.5 deg	[env.py: 1082]
+05/14 22:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m	[env.py: 1086]
+05/14 22:33:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:33:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:33:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:33:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:33:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:33:42 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:33:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:33:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:33:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:33:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:33:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.666s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:33:45 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:33:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:33:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:33:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:33:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:33:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:33:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:33:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:33:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:33:46 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]
+05/14 22:33:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:33:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.016m, effective arm-mount z=0.844m (base_body_z=-0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:33:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:33:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:33:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.016134m	[env.py: 870]
+05/14 22:33:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:33:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:33:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:33:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.25157237 -0.00084033 -0.01613367] yaw=-110.9deg	[env.py: 1019]
+05/14 22:33:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:33:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:33:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.12755232 -0.89058851 -0.01613367] yaw=192.4deg	[env.py: 1019]
+05/14 22:33:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:33:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:33:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.02039204 -0.62808349 -0.01613367] yaw=-166.1deg	[env.py: 1019]
+05/14 22:33:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:33:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:33:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.2ms, total=119.3ms	[env.py: 1075]
+05/14 22:33:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.252, -0.001, -0.016)	[env.py: 1079]
+05/14 22:33:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -110.9 deg	[env.py: 1082]
+05/14 22:33:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.158m	[env.py: 1086]
+05/14 22:33:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:33:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:33:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:33:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:33:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:33:46 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:33:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:33:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:33:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:33:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:33:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.675s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:33:49 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:33:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:33:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:33:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:33:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:33:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:33:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:33:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:33:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:33:51 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]
+05/14 22:33:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:33:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.042m, effective arm-mount z=0.818m (base_body_z=-0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.041897m	[env.py: 870]
+05/14 22:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:33:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 121.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:33:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 110.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:33:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=199.6ms, total=199.7ms	[env.py: 1105]
+05/14 22:33:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 302]
+05/14 22:33:51 ERROR: [Worker 0] Worker 0 house 1 episode 13 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/14 22:33:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:33:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:33:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:33:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:33:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:33:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:33:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:33:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:33:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:33:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:33:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098466m	[env.py: 870]
+05/14 22:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:33:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.45825984  0.06691163  0.09846645] yaw=-127.6deg	[env.py: 1019]
+05/14 22:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 144.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.10698907 -0.40261386  0.09846645] yaw=-130.5deg	[env.py: 1019]
+05/14 22:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.17078583 -0.4477406   0.09846645] yaw=-135.4deg	[env.py: 1019]
+05/14 22:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:33:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=154.1ms, total=154.1ms	[env.py: 1075]
+05/14 22:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.458, 0.067, 0.098)	[env.py: 1079]
+05/14 22:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.6 deg	[env.py: 1082]
+05/14 22:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m	[env.py: 1086]
+05/14 22:33:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:33:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:33:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:33:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:33:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:33:53 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:33:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:33:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:33:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:33:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:33:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.738s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:33:55 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:33:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:33:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[save_utils.py: 785]
+05/14 22:33:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 16.71s (batch: 5.24s, save: 11.46s)	[pipeline.py: 300]
+05/14 22:33:57 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.50s:
+  episode_total: mean=180.55s, total=180.55s, count=1, min=180548.1ms, max=180548.1ms
+  sensor_polling: mean=410.5ms, total=123.16s, count=300, min=383.5ms, max=959.5ms
+  save_trajectories: mean=11.46s, total=11.46s, count=1, min=11464.2ms, max=11464.2ms
+  physics_step: mean=23.5ms, total=7.04s, count=300, min=17.6ms, max=34.8ms
+  save_batch_prep: mean=5.24s, total=5.24s, count=1, min=5245.0ms, max=5245.0ms
+  task_sampling: mean=498.2ms, total=498.2ms, count=1, min=498.2ms, max=498.2ms
+  task_specific_sample: mean=493.7ms, total=493.7ms, count=1, min=493.7ms, max=493.7ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=466.2us, 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]
+05/14 22:33:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:33:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:33:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:33:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:33:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:33:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:33:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:33:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:33:57 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]
+05/14 22:33:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:33:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051038m	[env.py: 870]
+05/14 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:33:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 137.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.51550158 -0.04215691  0.0510381 ] yaw=-114.4deg	[env.py: 1019]
+05/14 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 127.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.04907865 -0.58728371  0.0510381 ] yaw=-168.2deg	[env.py: 1019]
+05/14 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.48750514  0.06797282  0.0510381 ] yaw=-96.3deg	[env.py: 1019]
+05/14 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:33:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=184.7ms, total=184.8ms	[env.py: 1075]
+05/14 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.516, -0.042, 0.051)	[env.py: 1079]
+05/14 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -114.4 deg	[env.py: 1082]
+05/14 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m	[env.py: 1086]
+05/14 22:33:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:33:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:33:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:33:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:33:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:33:57 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:33:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:33:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:33:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:33:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:33:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.093s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:33:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.384[m] 80.547[deg]	[grasp_sample.py: 539]
+05/14 22:33:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:33:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:33:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:33:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:33:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:33:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:33:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:33:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:33:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.078m, effective arm-mount z=0.782m (base_body_z=-0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.077842m	[env.py: 870]
+05/14 22:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:33:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 141.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 144.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.1812406  -0.96624255 -0.07784189] yaw=142.0deg	[env.py: 1019]
+05/14 22:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -78.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.19521034 -0.91073789 -0.07784189] yaw=148.5deg	[env.py: 1019]
+05/14 22:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:33:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=227.8ms, total=227.9ms	[env.py: 1075]
+05/14 22:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.181, -0.966, -0.078)	[env.py: 1079]
+05/14 22:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 142.0 deg	[env.py: 1082]
+05/14 22:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m	[env.py: 1086]
+05/14 22:33:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:33:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:33:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:33:59 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:33:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:33:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:33:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:33:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:34:00 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 22:34:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.781s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:34:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.524[m] 118.140[deg]	[grasp_sample.py: 539]
+05/14 22:34:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:34:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:34:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:34:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:34:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:34:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:34:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:34:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:34:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:34:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:34:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:34:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:34:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:34:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:34:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.014m, effective arm-mount z=0.846m (base_body_z=-0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013689m	[env.py: 870]
+05/14 22:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:34:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 150.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -154.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.47154535 -0.04194229 -0.01368856] yaw=-152.6deg	[env.py: 1019]
+05/14 22:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.20244289 -0.64831962 -0.01368856] yaw=-189.0deg	[env.py: 1019]
+05/14 22:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:34:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=220.8ms, total=220.9ms	[env.py: 1075]
+05/14 22:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.472, -0.042, -0.014)	[env.py: 1079]
+05/14 22:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.6 deg	[env.py: 1082]
+05/14 22:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m	[env.py: 1086]
+05/14 22:34:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:34:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:34:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:34:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:34:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:34:02 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:34:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:34:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:34:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:34:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:34:09 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:34:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:34:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 8.859s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:34:11 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.528[m] 102.563[deg]	[grasp_sample.py: 539]
+05/14 22:34:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:34:12 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 22:34:12 WARNING: [Worker 0] Asset Fridge_m (hash: c5ee371e5ee9c94dd64f357b5ff4cf8f) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose	[task_sampler.py: 396]
+05/14 22:34:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:34:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:34:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:34:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:34:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:34:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:34:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:34:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:34:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:34:13 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]
+05/14 22:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.062783m	[env.py: 870]
+05/14 22:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:34:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.59603264 -0.07876862 -0.06278339] yaw=-128.9deg	[env.py: 1019]
+05/14 22:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.20105104 -0.79192496 -0.06278339] yaw=-170.7deg	[env.py: 1019]
+05/14 22:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.09686337 -0.63567895 -0.06278339] yaw=-170.2deg	[env.py: 1019]
+05/14 22:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:34:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.7ms, total=121.8ms	[env.py: 1075]
+05/14 22:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.596, -0.079, -0.063)	[env.py: 1079]
+05/14 22:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.9 deg	[env.py: 1082]
+05/14 22:34:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m	[env.py: 1086]
+05/14 22:34:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:34:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:34:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:34:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:34:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:34:14 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:34:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:34:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:34:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:34:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:34:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:34:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:34:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.547s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:34:17 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.606[m] 97.981[deg]	[grasp_sample.py: 539]
+05/14 22:34:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:34:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:34:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:34:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:34:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:34:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:34:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:34:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:34:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:34:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:34:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:34:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.103s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:34:23 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.664s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:34:23 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.623[deg]	[grasp_sample.py: 539]
+05/14 22:34:24 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 22:34:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:34:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:34:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:34:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:34:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:34:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:34:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:34:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:34:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:34:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:34:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003397m	[env.py: 870]
+05/14 22:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:34:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18167 free points within sampling radius	[env.py: 907]
+05/14 22:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.06847434 -0.88596066  0.00339656] yaw=176.4deg	[env.py: 1019]
+05/14 22:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.08101809 -0.66646506  0.00339656] yaw=-159.5deg	[env.py: 1019]
+05/14 22:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.30164019 -0.49497015  0.00339656] yaw=-174.6deg	[env.py: 1019]
+05/14 22:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:34:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.5ms, total=133.5ms	[env.py: 1075]
+05/14 22:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.068, -0.886, 0.003)	[env.py: 1079]
+05/14 22:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.4 deg	[env.py: 1082]
+05/14 22:34:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.008m	[env.py: 1086]
+05/14 22:34:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:34:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:34:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:34:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:34:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:34:26 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:34:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:34:26 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]
+05/14 22:34:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:34:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:34:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.800s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:34:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.605[m] 99.354[deg]	[grasp_sample.py: 539]
+05/14 22:34:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:34:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:34:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:34:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:34:36 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/14 22:34:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 22:34:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:34:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:34:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[save_utils.py: 785]
+05/14 22:34:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.26s (batch: 4.36s, save: 10.90s)	[pipeline.py: 300]
+05/14 22:34:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:34:52 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.92s:
+  episode_total: mean=102.20s, total=204.39s, count=2, min=4434.1ms, max=199959.4ms
+  sensor_polling: mean=443.9ms, total=133.16s, count=300, min=401.9ms, max=911.1ms
+  save_trajectories: mean=10.90s, total=10.90s, count=1, min=10897.4ms, max=10897.4ms
+  physics_step: mean=24.9ms, total=7.46s, count=300, min=21.6ms, max=33.8ms
+  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4359.9ms, max=4359.9ms
+  task_sampling: mean=461.3ms, total=922.7ms, count=2, min=439.3ms, max=483.4ms
+  task_specific_sample: mean=457.6ms, total=915.2ms, count=2, min=435.3ms, max=479.9ms
+  scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.2ms, max=2.5ms
+  mj_forward_sync: mean=451.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=13.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:34:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:34:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:34:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:34:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:34:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:34:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:34:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:34:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:34:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:34:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:34:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031399m	[env.py: 870]
+05/14 22:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:34:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 133.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -155.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.26290062 -0.50910269  0.0313994 ] yaw=-142.6deg	[env.py: 1019]
+05/14 22:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:34:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=229.6ms, total=229.7ms	[env.py: 1075]
+05/14 22:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.263, -0.509, 0.031)	[env.py: 1079]
+05/14 22:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.6 deg	[env.py: 1082]
+05/14 22:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m	[env.py: 1086]
+05/14 22:34:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:34:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:34:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:34:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:34:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:34:54 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:34:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:34:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:34:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:34:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:34:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.816s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:34:55 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.471[m] 86.434[deg]	[grasp_sample.py: 539]
+05/14 22:34:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:34:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:34:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:34:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:35:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:35:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:35:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:35:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:35:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:35:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:35:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:35:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:35:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:35:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:35:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:35:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:35:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:35:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:36:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:36:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:36:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:36:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:36:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:36:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:36:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:36:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:36:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:36:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:36:10 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.706s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:36:10 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.537[deg]	[grasp_sample.py: 539]
+05/14 22:36:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:36:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:36:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:36:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:36:23 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:36:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:36:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:36:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:36:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:36:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:36:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:36:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:36:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:36:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:36:51 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/14 22:36:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 22:36:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:36:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:36:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:36:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:36:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:36:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:36:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:36:53 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:36:55 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.711s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:36:55 INFO: [Worker 0] Feasible grasp found 224 (originally 109): w/ 0.118[m] 2.735[deg]	[grasp_sample.py: 539]
+05/14 22:36:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:36:55 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/14 22:36:55 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=False episode_total=3.57s:
+  episode_total: mean=23.64s, total=189.12s, count=8, min=211.3ms, max=161504.0ms
+  sensor_polling: mean=412.7ms, total=123.82s, count=300, min=388.4ms, max=827.7ms
+  physics_step: mean=22.9ms, total=6.87s, count=300, min=16.9ms, max=32.1ms
+  task_specific_sample: mean=468.5ms, total=3.75s, count=8, min=206.0ms, max=857.7ms
+  task_sampling: mean=509.4ms, total=3.57s, count=7, min=363.8ms, max=862.0ms
+  task_sampling_failed: mean=211.2ms, total=211.2ms, count=1, min=211.2ms, max=211.2ms
+  scene_randomize: mean=1.7ms, total=13.3ms, count=8, min=1.2ms, max=2.9ms
+  mj_forward_sync: mean=473.1us, total=3.8ms, count=8, min=0.4ms, max=0.6ms
+  policy_setup: mean=18.6us, total=0.1ms, count=7, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:36:57 WARNING: [Worker 0] No trajectory data to save for chunk_002	[pipeline.py: 234]
+05/14 22:36:57 WARNING: [Worker 0] No trajectory data to save for chunk_002	[pipeline.py: 234]
+05/14 22:36:57 INFO: [Worker 0] Worker 0 completed house 1: 6/9 successful episodes	[pipeline.py: 1323]
+05/14 22:36:57 INFO: [Worker 0] [PROFILE] House 1 complete: 6/9 successful, 9 episodes, total_time=3194.75s
+  House averages:
+  episode_total: mean=98.51s, total=1773.14s, count=18, min=211.3ms, max=204764.0ms
+  sensor_polling: mean=417.6ms, total=1228.62s, count=2942, min=383.5ms, max=938.7ms
+  physics_step: mean=23.8ms, total=69.91s, count=2942, min=15.3ms, max=66.5ms
+  save_trajectories: mean=11.40s, total=68.42s, count=6, min=10985.3ms, max=12177.1ms
+  save_batch_prep: mean=4.01s, total=24.08s, count=6, min=3645.7ms, max=4416.4ms
+  task_sampling: mean=730.9ms, total=12.43s, count=17, min=363.8ms, max=4248.2ms
+  task_specific_sample: mean=489.7ms, total=8.81s, count=18, min=206.0ms, max=857.7ms
+  scene_load: mean=3.76s, total=3.76s, count=1, min=3755.9ms, max=3755.9ms
+  scene_env_create: mean=2.10s, total=2.10s, count=1, min=2095.4ms, max=2095.4ms
+  scene_compile: mean=1.48s, total=1.48s, count=1, min=1479.2ms, max=1479.2ms
+  compile_mujoco: mean=802.3ms, total=802.3ms, count=1, min=802.3ms, max=802.3ms
+  compile_xml_load: mean=574.0ms, total=574.0ms, count=1, min=574.0ms, max=574.0ms
+  task_sampling_failed: mean=211.2ms, total=211.2ms, count=1, min=211.2ms, max=211.2ms
+  scene_init: mean=117.2ms, total=117.2ms, count=1, min=117.2ms, max=117.2ms
+  scene_asset_install: mean=63.8ms, total=63.8ms, count=1, min=63.8ms, max=63.8ms
+  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=43.9ms, total=43.9ms, count=1, min=43.9ms, max=43.9ms
+  compile_robot_add: mean=36.4ms, total=36.4ms, count=1, min=36.4ms, max=36.4ms
+  scene_randomize: mean=1.9ms, total=34.3ms, count=18, min=1.2ms, max=2.9ms
+  asset_install_objects: mean=15.1ms, total=15.1ms, count=1, min=15.1ms, max=15.1ms
+  mj_forward_sync: mean=466.6us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=4.8ms, total=4.8ms, count=1, min=4.8ms, max=4.8ms
+  policy_setup: mean=24.2us, total=0.4ms, count=17, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/14 22:36:57 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/14 22:36:57 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 9 episodes, total_time=3194.75s
+  Worker averages:
+  episode_total: mean=98.51s, total=1773.14s, count=18, min=211.3ms, max=204764.0ms
+  sensor_polling: mean=417.6ms, total=1228.62s, count=2942, min=383.5ms, max=938.7ms
+  physics_step: mean=23.8ms, total=69.91s, count=2942, min=15.3ms, max=66.5ms
+  save_trajectories: mean=11.40s, total=68.42s, count=6, min=10985.3ms, max=12177.1ms
+  save_batch_prep: mean=4.01s, total=24.08s, count=6, min=3645.7ms, max=4416.4ms
+  task_sampling: mean=730.9ms, total=12.43s, count=17, min=363.8ms, max=4248.2ms
+  task_specific_sample: mean=489.7ms, total=8.81s, count=18, min=206.0ms, max=857.7ms
+  scene_load: mean=3.76s, total=3.76s, count=1, min=3755.9ms, max=3755.9ms
+  scene_env_create: mean=2.10s, total=2.10s, count=1, min=2095.4ms, max=2095.4ms
+  scene_compile: mean=1.48s, total=1.48s, count=1, min=1479.2ms, max=1479.2ms
+  compile_mujoco: mean=802.3ms, total=802.3ms, count=1, min=802.3ms, max=802.3ms
+  compile_xml_load: mean=574.0ms, total=574.0ms, count=1, min=574.0ms, max=574.0ms
+  task_sampling_failed: mean=211.2ms, total=211.2ms, count=1, min=211.2ms, max=211.2ms
+  scene_init: mean=117.2ms, total=117.2ms, count=1, min=117.2ms, max=117.2ms
+  scene_asset_install: mean=63.8ms, total=63.8ms, count=1, min=63.8ms, max=63.8ms
+  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=43.9ms, total=43.9ms, count=1, min=43.9ms, max=43.9ms
+  compile_robot_add: mean=36.4ms, total=36.4ms, count=1, min=36.4ms, max=36.4ms
+  scene_randomize: mean=1.9ms, total=34.3ms, count=18, min=1.2ms, max=2.9ms
+  asset_install_objects: mean=15.1ms, total=15.1ms, count=1, min=15.1ms, max=15.1ms
+  mj_forward_sync: mean=466.6us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=4.8ms, total=4.8ms, count=1, min=4.8ms, max=4.8ms
+  policy_setup: mean=24.2us, total=0.4ms, count=17, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/14 22:37:00 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/14 22:37:00 INFO: Success count: 6, Total count: 9	[pipeline.py: 1491]
+05/14 22:37:00 INFO: Success rate: 66.67%	[pipeline.py: 1492]
+05/14 22:37:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:37:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[save_utils.py: 785]
+05/14 22:37:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 16.85s (batch: 5.35s, save: 11.50s)	[pipeline.py: 300]
+05/14 22:37:09 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.53s:
+  episode_total: mean=190.03s, total=190.03s, count=1, min=190032.5ms, max=190032.5ms
+  sensor_polling: mean=437.9ms, total=131.37s, count=300, min=383.5ms, max=857.8ms
+  save_trajectories: mean=11.50s, total=11.50s, count=1, min=11499.1ms, max=11499.1ms
+  physics_step: mean=28.0ms, total=8.39s, count=300, min=16.9ms, max=35.7ms
+  save_batch_prep: mean=5.35s, total=5.35s, count=1, min=5353.6ms, max=5353.6ms
+  task_sampling: mean=532.5ms, total=532.5ms, count=1, min=532.5ms, max=532.5ms
+  task_specific_sample: mean=528.1ms, total=528.1ms, count=1, min=528.1ms, max=528.1ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=448.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:37:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:37:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:37:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:37:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:37:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:37:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:37:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:37:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:37:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:37:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:37:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057990m	[env.py: 870]
+05/14 22:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:37:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.04893551 -0.73752328  0.05799049] yaw=-202.8deg	[env.py: 1019]
+05/14 22:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.15983812 -1.12804417  0.05799049] yaw=182.5deg	[env.py: 1019]
+05/14 22:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.10608689 -1.01244655  0.05799049] yaw=182.5deg	[env.py: 1019]
+05/14 22:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:37:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=201.6ms, total=201.7ms	[env.py: 1075]
+05/14 22:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.049, -0.738, 0.058)	[env.py: 1079]
+05/14 22:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -202.8 deg	[env.py: 1082]
+05/14 22:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m	[env.py: 1086]
+05/14 22:37:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:37:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:37:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:37:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:37:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:37:11 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:37:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:37:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:37:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:37:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:37:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.918s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:37:12 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.643[m] 122.236[deg]	[grasp_sample.py: 539]
+05/14 22:37:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:37:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:37:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:37:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:37:23 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/14 22:37:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 22:37:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:37:23 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:37:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:37:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[save_utils.py: 785]
+05/14 22:37:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.69s (batch: 4.44s, save: 11.25s)	[pipeline.py: 300]
+05/14 22:37:39 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.86s:
+  episode_total: mean=76.03s, total=304.12s, count=4, min=3264.6ms, max=193597.9ms
+  sensor_polling: mean=447.7ms, total=218.49s, count=488, min=402.1ms, max=1046.8ms
+  physics_step: mean=24.9ms, total=12.14s, count=488, min=16.6ms, max=75.9ms
+  save_trajectories: mean=11.25s, total=11.25s, count=1, min=11246.2ms, max=11246.2ms
+  save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4439.4ms, max=4439.4ms
+  task_sampling: mean=465.5ms, total=1.86s, count=4, min=406.3ms, max=542.5ms
+  task_specific_sample: mean=462.3ms, total=1.85s, count=4, min=403.5ms, max=538.3ms
+  scene_randomize: mean=1.6ms, total=6.4ms, count=4, min=1.2ms, max=2.6ms
+  mj_forward_sync: mean=449.1us, total=1.8ms, count=4, min=0.4ms, max=0.5ms
+  policy_setup: mean=16.4us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:37:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:37:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:37:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:37:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:37:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:37:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:37:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:37:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:37:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:37:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:37:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.066282m	[env.py: 870]
+05/14 22:37:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:37:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18167 free points within sampling radius	[env.py: 907]
+05/14 22:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.12763292 -0.55123053  0.06628205] yaw=-189.9deg	[env.py: 1019]
+05/14 22:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 126.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.00432759 -0.41485196  0.06628205] yaw=-186.5deg	[env.py: 1019]
+05/14 22:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.11626941 -1.09743664  0.06628205] yaw=190.4deg	[env.py: 1019]
+05/14 22:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:37:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=268.9ms, total=269.0ms	[env.py: 1075]
+05/14 22:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.128, -0.551, 0.066)	[env.py: 1079]
+05/14 22:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -189.9 deg	[env.py: 1082]
+05/14 22:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
+05/14 22:37:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:37:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:37:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:37:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:37:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:37:41 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:37:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:37:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:37:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:37:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:37:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.917s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:37:42 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.612[m] 94.741[deg]	[grasp_sample.py: 539]
+05/14 22:37:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:37:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:37:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:37:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:37:51 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/14 22:37:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 22:37:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:38:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:38:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[save_utils.py: 785]
+05/14 22:38:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.60s (batch: 4.60s, save: 11.00s)	[pipeline.py: 300]
+05/14 22:38:07 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.54s:
+  episode_total: mean=193.80s, total=193.80s, count=1, min=193801.9ms, max=193801.9ms
+  sensor_polling: mean=451.2ms, total=135.36s, count=300, min=404.2ms, max=991.7ms
+  save_trajectories: mean=11.00s, total=11.00s, count=1, min=10998.2ms, max=10998.2ms
+  physics_step: mean=25.6ms, total=7.69s, count=300, min=21.5ms, max=40.6ms
+  save_batch_prep: mean=4.60s, total=4.60s, count=1, min=4604.5ms, max=4604.5ms
+  task_sampling: mean=540.6ms, total=540.6ms, count=1, min=540.6ms, max=540.6ms
+  task_specific_sample: mean=536.7ms, total=536.7ms, count=1, min=536.7ms, max=536.7ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=454.7us, 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]
+05/14 22:38:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:38:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:38:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:38:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:38:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:38:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:38:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:38:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:38:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:38:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:38:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.067m, effective arm-mount z=0.793m (base_body_z=-0.067m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.067381m	[env.py: 870]
+05/14 22:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:38:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.03832542 -0.924294   -0.06738097] yaw=165.4deg	[env.py: 1019]
+05/14 22:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 139.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.09811977 -0.5125373  -0.06738097] yaw=-139.1deg	[env.py: 1019]
+05/14 22:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:38:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=317.0ms, total=317.0ms	[env.py: 1075]
+05/14 22:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.038, -0.924, -0.067)	[env.py: 1079]
+05/14 22:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.4 deg	[env.py: 1082]
+05/14 22:38:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.042m	[env.py: 1086]
+05/14 22:38:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:38:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:38:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:38:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:38:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:38:09 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:38:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:38:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:38:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:38:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:38:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.942s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:38:11 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.664[m] 88.150[deg]	[grasp_sample.py: 539]
+05/14 22:38:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:38:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:38:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:38:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:38:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:38:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:38:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:38:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:38:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:38:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:39:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:39:28 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:39:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:39:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:39:57 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/14 22:39:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 22:39:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:40:03 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:40:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:40:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[save_utils.py: 785]
+05/14 22:40:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.99s (batch: 5.01s, save: 10.98s)	[pipeline.py: 300]
+05/14 22:40:14 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.54s:
+  episode_total: mean=183.47s, total=183.47s, count=1, min=183465.8ms, max=183465.8ms
+  sensor_polling: mean=408.8ms, total=122.63s, count=300, min=382.8ms, max=866.3ms
+  save_trajectories: mean=10.98s, total=10.98s, count=1, min=10977.9ms, max=10977.9ms
+  physics_step: mean=23.9ms, total=7.16s, count=300, min=21.3ms, max=29.2ms
+  save_batch_prep: mean=5.01s, total=5.01s, count=1, min=5013.1ms, max=5013.1ms
+  task_sampling: mean=541.9ms, total=541.9ms, count=1, min=541.9ms, max=541.9ms
+  task_specific_sample: mean=537.6ms, total=537.6ms, count=1, min=537.6ms, max=537.6ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=458.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:40:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:40:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:40:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:40:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:40:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:40:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:40:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:40:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:40:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:40:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:40:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.047m, effective arm-mount z=0.813m (base_body_z=-0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.046573m	[env.py: 870]
+05/14 22:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:40:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.15380609 -0.41865473 -0.04657326] yaw=-158.2deg	[env.py: 1019]
+05/14 22:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.25869365 -0.39300661 -0.04657326] yaw=-145.3deg	[env.py: 1019]
+05/14 22:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:40:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=236.9ms, total=236.9ms	[env.py: 1075]
+05/14 22:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.154, -0.419, -0.047)	[env.py: 1079]
+05/14 22:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.2 deg	[env.py: 1082]
+05/14 22:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.003m	[env.py: 1086]
+05/14 22:40:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:40:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:40:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:40:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:40:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:40:16 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:40:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:40:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:40:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:40:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:40:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 7.851s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:40:24 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.683[m] 86.673[deg]	[grasp_sample.py: 539]
+05/14 22:40:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:40:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:40:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:40:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:40:31 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/14 22:40:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 22:40:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:40:38 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:40:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:40:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[save_utils.py: 785]
+05/14 22:40:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.70s (batch: 4.34s, save: 11.36s)	[pipeline.py: 300]
+05/14 22:40:48 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.57s:
+  episode_total: mean=187.13s, total=187.13s, count=1, min=187133.9ms, max=187133.9ms
+  sensor_polling: mean=430.7ms, total=129.22s, count=300, min=402.6ms, max=997.2ms
+  save_trajectories: mean=11.36s, total=11.36s, count=1, min=11360.8ms, max=11360.8ms
+  physics_step: mean=23.6ms, total=7.09s, count=300, min=16.7ms, max=36.1ms
+  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4343.7ms, max=4343.7ms
+  task_sampling: mean=573.8ms, total=573.8ms, count=1, min=573.8ms, max=573.8ms
+  task_specific_sample: mean=569.8ms, total=569.8ms, count=1, min=569.8ms, max=569.8ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=460.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:40:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:40:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:40:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:40:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:40:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:40:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:40:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:40:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:40:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:40:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:40:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:40:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:40:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:40:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019877m	[env.py: 870]
+05/14 22:40:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:40:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:40:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18167 free points within sampling radius	[env.py: 907]
+05/14 22:40:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.24335288 -0.87373042  0.01987674] yaw=156.5deg	[env.py: 1019]
+05/14 22:40:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:40:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:40:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:40:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:40:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.00254342 -1.09513133  0.01987674] yaw=150.8deg	[env.py: 1019]
+05/14 22:40:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:40:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.18389322 -1.12000429  0.01987674] yaw=151.8deg	[env.py: 1019]
+05/14 22:40:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:40:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:40:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=252.0ms, total=252.0ms	[env.py: 1075]
+05/14 22:40:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.243, -0.874, 0.020)	[env.py: 1079]
+05/14 22:40:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.5 deg	[env.py: 1082]
+05/14 22:40:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m	[env.py: 1086]
+05/14 22:40:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:40:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:40:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:40:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:40:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:40:50 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:40:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:40:50 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]
+05/14 22:40:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:40:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:40:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.847s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:40:51 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.545[m] 76.143[deg]	[grasp_sample.py: 539]
+05/14 22:40:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:40:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:40:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:40:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:41:06 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/14 22:41:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 22:41:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:41:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:41:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[save_utils.py: 785]
+05/14 22:41:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.43s (batch: 4.25s, save: 11.18s)	[pipeline.py: 300]
+05/14 22:41:22 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.64s:
+  episode_total: mean=193.60s, total=193.60s, count=1, min=193595.9ms, max=193595.9ms
+  sensor_polling: mean=458.3ms, total=137.50s, count=300, min=405.7ms, max=885.9ms
+  save_trajectories: mean=11.18s, total=11.18s, count=1, min=11177.3ms, max=11177.3ms
+  physics_step: mean=25.1ms, total=7.53s, count=300, min=16.7ms, max=36.7ms
+  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4254.9ms, max=4254.9ms
+  task_sampling: mean=636.0ms, total=636.0ms, count=1, min=636.0ms, max=636.0ms
+  task_specific_sample: mean=632.0ms, total=632.0ms, count=1, min=632.0ms, max=632.0ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=497.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:41:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:41:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:41:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:41:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:41:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:41:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:41:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:41:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:41:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:41:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:41:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.023570m	[env.py: 870]
+05/14 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:41:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 95.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 152.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 167.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 135.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:41:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=245.5ms, total=245.6ms	[env.py: 1105]
+05/14 22:41:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 302]
+05/14 22:41:24 ERROR: [Worker 0] Worker 0 house 1 episode 16 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/14 22:41:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:41:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:41:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:41:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:41:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:41:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:41:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:41:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:41:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:41:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:41:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072773m	[env.py: 870]
+05/14 22:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:41:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.19025684 -0.34600405  0.07277344] yaw=-142.2deg	[env.py: 1019]
+05/14 22:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.17311015 -0.48327922  0.07277344] yaw=-149.6deg	[env.py: 1019]
+05/14 22:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.28125057 -0.35279437  0.07277344] yaw=-165.3deg	[env.py: 1019]
+05/14 22:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:41:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=174.7ms, total=174.7ms	[env.py: 1075]
+05/14 22:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.190, -0.346, 0.073)	[env.py: 1079]
+05/14 22:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.2 deg	[env.py: 1082]
+05/14 22:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m	[env.py: 1086]
+05/14 22:41:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:41:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:41:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:41:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:41:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:41:26 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:41:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:41:26 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]
+05/14 22:41:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:41:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:41:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:41:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.674s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:41:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.727[m] 63.098[deg]	[grasp_sample.py: 539]
+05/14 22:41:30 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 22:41:32 WARNING: [Worker 0] No trajectory data to save for chunk_002	[pipeline.py: 234]
+05/14 22:41:32 WARNING: [Worker 0] No trajectory data to save for chunk_002	[pipeline.py: 234]
+05/14 22:41:32 INFO: [Worker 0] Worker 0 completed house 1: 9/10 successful episodes	[pipeline.py: 1323]
+05/14 22:41:32 INFO: [Worker 0] [PROFILE] House 1 complete: 9/10 successful, 10 episodes, total_time=3648.04s
+  House averages:
+  episode_total: mean=113.61s, total=2044.99s, count=18, min=259.4ms, max=223474.3ms
+  sensor_polling: mean=445.2ms, total=1354.36s, count=3042, min=393.7ms, max=991.7ms
+  save_trajectories: mean=11.36s, total=102.26s, count=9, min=10855.5ms, max=13317.3ms
+  physics_step: mean=24.7ms, total=75.16s, count=3042, min=14.5ms, max=66.6ms
+  save_batch_prep: mean=4.75s, total=42.78s, count=9, min=4254.9ms, max=7120.3ms
+  task_sampling: mean=711.8ms, total=12.10s, count=17, min=439.3ms, max=3281.7ms
+  task_specific_sample: mean=527.1ms, total=9.49s, count=18, min=252.3ms, max=852.6ms
+  scene_load: mean=2.80s, total=2.80s, count=1, min=2796.9ms, max=2796.9ms
+  scene_env_create: mean=1.72s, total=1.72s, count=1, min=1722.1ms, max=1722.1ms
+  scene_compile: mean=865.2ms, total=865.2ms, count=1, min=865.2ms, max=865.2ms
+  compile_mujoco: mean=602.5ms, total=602.5ms, count=1, min=602.5ms, max=602.5ms
+  task_sampling_failed: mean=259.3ms, total=259.3ms, count=1, min=259.3ms, max=259.3ms
+  compile_xml_load: mean=187.2ms, total=187.2ms, count=1, min=187.2ms, max=187.2ms
+  scene_init: mean=118.9ms, total=118.9ms, count=1, min=118.9ms, max=118.9ms
+  scene_asset_install: mean=90.5ms, total=90.5ms, count=1, min=90.5ms, max=90.5ms
+  asset_install_grasps: mean=55.9ms, total=55.9ms, count=1, min=55.9ms, max=55.9ms
+  compile_aux_objects: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms
+  compile_aux_policy_objects: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms
+  scene_randomize: mean=2.0ms, total=36.7ms, count=18, min=1.1ms, max=3.1ms
+  asset_install_objects: mean=20.8ms, total=20.8ms, count=1, min=20.8ms, max=20.8ms
+  asset_install_scene: mean=13.8ms, total=13.8ms, count=1, min=13.8ms, max=13.8ms
+  compile_robot_add: mean=9.6ms, total=9.6ms, count=1, min=9.6ms, max=9.6ms
+  mj_forward_sync: mean=464.4us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
+  policy_setup: mean=19.8us, total=0.3ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/14 22:41:32 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/14 22:41:32 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=3648.04s
+  Worker averages:
+  episode_total: mean=113.61s, total=2044.99s, count=18, min=259.4ms, max=223474.3ms
+  sensor_polling: mean=445.2ms, total=1354.36s, count=3042, min=393.7ms, max=991.7ms
+  save_trajectories: mean=11.36s, total=102.26s, count=9, min=10855.5ms, max=13317.3ms
+  physics_step: mean=24.7ms, total=75.16s, count=3042, min=14.5ms, max=66.6ms
+  save_batch_prep: mean=4.75s, total=42.78s, count=9, min=4254.9ms, max=7120.3ms
+  task_sampling: mean=711.8ms, total=12.10s, count=17, min=439.3ms, max=3281.7ms
+  task_specific_sample: mean=527.1ms, total=9.49s, count=18, min=252.3ms, max=852.6ms
+  scene_load: mean=2.80s, total=2.80s, count=1, min=2796.9ms, max=2796.9ms
+  scene_env_create: mean=1.72s, total=1.72s, count=1, min=1722.1ms, max=1722.1ms
+  scene_compile: mean=865.2ms, total=865.2ms, count=1, min=865.2ms, max=865.2ms
+  compile_mujoco: mean=602.5ms, total=602.5ms, count=1, min=602.5ms, max=602.5ms
+  task_sampling_failed: mean=259.3ms, total=259.3ms, count=1, min=259.3ms, max=259.3ms
+  compile_xml_load: mean=187.2ms, total=187.2ms, count=1, min=187.2ms, max=187.2ms
+  scene_init: mean=118.9ms, total=118.9ms, count=1, min=118.9ms, max=118.9ms
+  scene_asset_install: mean=90.5ms, total=90.5ms, count=1, min=90.5ms, max=90.5ms
+  asset_install_grasps: mean=55.9ms, total=55.9ms, count=1, min=55.9ms, max=55.9ms
+  compile_aux_objects: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms
+  compile_aux_policy_objects: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms
+  scene_randomize: mean=2.0ms, total=36.7ms, count=18, min=1.1ms, max=3.1ms
+  asset_install_objects: mean=20.8ms, total=20.8ms, count=1, min=20.8ms, max=20.8ms
+  asset_install_scene: mean=13.8ms, total=13.8ms, count=1, min=13.8ms, max=13.8ms
+  compile_robot_add: mean=9.6ms, total=9.6ms, count=1, min=9.6ms, max=9.6ms
+  mj_forward_sync: mean=464.4us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
+  policy_setup: mean=19.8us, total=0.3ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/14 22:41:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:41:35 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/14 22:41:35 INFO: Success count: 9, Total count: 10	[pipeline.py: 1491]
+05/14 22:41:35 INFO: Success rate: 90.00%	[pipeline.py: 1492]
+05/14 22:41:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:41:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:41:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:41:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:42:41 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:43:09 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/14 22:43:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 22:43:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:43:14 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:43:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:43:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[save_utils.py: 785]
+05/14 22:43:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 16.12s (batch: 4.89s, save: 11.23s)	[pipeline.py: 300]
+05/14 22:43:26 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.55s:
+  episode_total: mean=190.55s, total=190.55s, count=1, min=190546.1ms, max=190546.1ms
+  sensor_polling: mean=420.7ms, total=126.22s, count=300, min=383.6ms, max=818.7ms
+  save_trajectories: mean=11.23s, total=11.23s, count=1, min=11226.4ms, max=11226.4ms
+  physics_step: mean=24.3ms, total=7.28s, count=300, min=17.4ms, max=32.0ms
+  save_batch_prep: mean=4.89s, total=4.89s, count=1, min=4892.5ms, max=4892.5ms
+  task_sampling: mean=551.5ms, total=551.5ms, count=1, min=551.5ms, max=551.5ms
+  task_specific_sample: mean=547.2ms, total=547.2ms, count=1, min=547.2ms, max=547.2ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=445.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=36.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:43:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:43:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:43:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:43:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:43:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:43:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:43:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:43:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:43:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:43:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:43:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005301m	[env.py: 870]
+05/14 22:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:43:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 116.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.48923342  0.02575455  0.00530111] yaw=-101.5deg	[env.py: 1019]
+05/14 22:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.34158197 -0.34817479  0.00530111] yaw=-134.3deg	[env.py: 1019]
+05/14 22:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.13227538 -0.52452509  0.00530111] yaw=-164.3deg	[env.py: 1019]
+05/14 22:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:43:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=173.4ms, total=173.4ms	[env.py: 1075]
+05/14 22:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.489, 0.026, 0.005)	[env.py: 1079]
+05/14 22:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -101.5 deg	[env.py: 1082]
+05/14 22:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m	[env.py: 1086]
+05/14 22:43:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:43:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:43:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:43:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:43:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:43:28 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:43:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:43:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:43:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:43:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:43:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.741s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:43:31 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.479[m] 90.979[deg]	[grasp_sample.py: 539]
+05/14 22:43:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:43:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:43:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:43:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:43:43 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/14 22:43:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 22:43:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:43:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:43:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[save_utils.py: 785]
+05/14 22:43:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.77s (batch: 4.50s, save: 11.27s)	[pipeline.py: 300]
+05/14 22:43:59 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.57s:
+  episode_total: mean=190.31s, total=190.31s, count=1, min=190305.2ms, max=190305.2ms
+  sensor_polling: mean=432.9ms, total=129.88s, count=300, min=378.8ms, max=1032.5ms
+  save_trajectories: mean=11.27s, total=11.27s, count=1, min=11267.0ms, max=11267.0ms
+  physics_step: mean=23.9ms, total=7.16s, count=300, min=20.6ms, max=37.9ms
+  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4501.3ms, max=4501.3ms
+  task_sampling: mean=569.5ms, total=569.5ms, count=1, min=569.5ms, max=569.5ms
+  task_specific_sample: mean=565.3ms, total=565.3ms, count=1, min=565.3ms, max=565.3ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=448.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=37.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:44:01 WARNING: [Worker 0] No trajectory data to save for chunk_002	[pipeline.py: 234]
+05/14 22:44:01 WARNING: [Worker 0] No trajectory data to save for chunk_002	[pipeline.py: 234]
+05/14 22:44:01 INFO: [Worker 0] Worker 0 completed house 1: 10/10 successful episodes	[pipeline.py: 1323]
+05/14 22:44:01 INFO: [Worker 0] [PROFILE] House 1 complete: 10/10 successful, 10 episodes, total_time=3953.63s
+  House averages:
+  episode_total: mean=122.11s, total=2197.98s, count=18, min=3264.6ms, max=194363.0ms
+  sensor_polling: mean=443.7ms, total=1485.99s, count=3349, min=367.0ms, max=1046.8ms
+  save_trajectories: mean=11.24s, total=112.41s, count=10, min=10728.6ms, max=11741.4ms
+  physics_step: mean=24.4ms, total=81.78s, count=3349, min=16.6ms, max=94.8ms
+  save_batch_prep: mean=4.29s, total=42.89s, count=10, min=4089.4ms, max=4501.3ms
+  task_sampling: mean=750.5ms, total=13.51s, count=18, min=406.3ms, max=4451.2ms
+  task_specific_sample: mean=529.5ms, total=9.53s, count=18, min=402.7ms, max=903.5ms
+  scene_load: mean=3.91s, total=3.91s, count=1, min=3908.4ms, max=3908.4ms
+  scene_env_create: mean=2.17s, total=2.17s, count=1, min=2165.4ms, max=2165.4ms
+  scene_compile: mean=1.56s, total=1.56s, count=1, min=1561.9ms, max=1561.9ms
+  compile_xml_load: mean=726.3ms, total=726.3ms, count=1, min=726.3ms, max=726.3ms
+  compile_mujoco: mean=716.3ms, total=716.3ms, count=1, min=716.3ms, max=716.3ms
+  scene_init: mean=117.3ms, total=117.3ms, count=1, min=117.3ms, max=117.3ms
+  compile_aux_objects: mean=70.2ms, total=70.2ms, count=1, min=70.2ms, max=70.2ms
+  compile_aux_policy_objects: mean=70.2ms, total=70.2ms, count=1, min=70.2ms, max=70.2ms
+  scene_asset_install: mean=63.2ms, total=63.2ms, count=1, min=63.2ms, max=63.2ms
+  asset_install_grasps: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms
+  scene_randomize: mean=2.1ms, total=38.6ms, count=18, min=1.2ms, max=2.8ms
+  compile_robot_add: mean=36.7ms, total=36.7ms, count=1, min=36.7ms, max=36.7ms
+  asset_install_objects: mean=14.7ms, total=14.7ms, count=1, min=14.7ms, max=14.7ms
+  mj_forward_sync: mean=471.0us, total=8.5ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms
+  policy_setup: mean=27.5us, total=0.5ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/14 22:44:01 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/14 22:44:01 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=3953.63s
+  Worker averages:
+  episode_total: mean=122.11s, total=2197.98s, count=18, min=3264.6ms, max=194363.0ms
+  sensor_polling: mean=443.7ms, total=1485.99s, count=3349, min=367.0ms, max=1046.8ms
+  save_trajectories: mean=11.24s, total=112.41s, count=10, min=10728.6ms, max=11741.4ms
+  physics_step: mean=24.4ms, total=81.78s, count=3349, min=16.6ms, max=94.8ms
+  save_batch_prep: mean=4.29s, total=42.89s, count=10, min=4089.4ms, max=4501.3ms
+  task_sampling: mean=750.5ms, total=13.51s, count=18, min=406.3ms, max=4451.2ms
+  task_specific_sample: mean=529.5ms, total=9.53s, count=18, min=402.7ms, max=903.5ms
+  scene_load: mean=3.91s, total=3.91s, count=1, min=3908.4ms, max=3908.4ms
+  scene_env_create: mean=2.17s, total=2.17s, count=1, min=2165.4ms, max=2165.4ms
+  scene_compile: mean=1.56s, total=1.56s, count=1, min=1561.9ms, max=1561.9ms
+  compile_xml_load: mean=726.3ms, total=726.3ms, count=1, min=726.3ms, max=726.3ms
+  compile_mujoco: mean=716.3ms, total=716.3ms, count=1, min=716.3ms, max=716.3ms
+  scene_init: mean=117.3ms, total=117.3ms, count=1, min=117.3ms, max=117.3ms
+  compile_aux_objects: mean=70.2ms, total=70.2ms, count=1, min=70.2ms, max=70.2ms
+  compile_aux_policy_objects: mean=70.2ms, total=70.2ms, count=1, min=70.2ms, max=70.2ms
+  scene_asset_install: mean=63.2ms, total=63.2ms, count=1, min=63.2ms, max=63.2ms
+  asset_install_grasps: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms
+  scene_randomize: mean=2.1ms, total=38.6ms, count=18, min=1.2ms, max=2.8ms
+  compile_robot_add: mean=36.7ms, total=36.7ms, count=1, min=36.7ms, max=36.7ms
+  asset_install_objects: mean=14.7ms, total=14.7ms, count=1, min=14.7ms, max=14.7ms
+  mj_forward_sync: mean=471.0us, total=8.5ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms
+  policy_setup: mean=27.5us, total=0.5ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/14 22:44:04 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/14 22:44:04 INFO: Success count: 10, Total count: 10	[pipeline.py: 1491]
+05/14 22:44:04 INFO: Success rate: 100.00%	[pipeline.py: 1492]
+05/14 22:44:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:44:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:44:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:44:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:44:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:44:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:44:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:44:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:44:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:44:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:44:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:44:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:44:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:44:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:44:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:44:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:44:43 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.799s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:44:43 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:44:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:44:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:44:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:44:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:44:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:44:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:44:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:44:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:44:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:44:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:44:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040622m	[env.py: 870]
+05/14 22:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:44:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.01060528 -1.29352505  0.04062232] yaw=177.9deg	[env.py: 1019]
+05/14 22:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.05673375 -0.65779988  0.04062232] yaw=-196.2deg	[env.py: 1019]
+05/14 22:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 133.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.47949423 -0.23780248  0.04062232] yaw=-152.1deg	[env.py: 1019]
+05/14 22:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:44:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.4ms, total=126.4ms	[env.py: 1075]
+05/14 22:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.011, -1.294, 0.041)	[env.py: 1079]
+05/14 22:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.9 deg	[env.py: 1082]
+05/14 22:44:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.185m	[env.py: 1086]
+05/14 22:44:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:44:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:44:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:44:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:44:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:44:45 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:44:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:44:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:44:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:44:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:44:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.749s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:44:48 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:44:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:44:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:44:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:44:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:44:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:44:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:44:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:44:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:44:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:44:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:44:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017883m	[env.py: 870]
+05/14 22:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:44:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 141.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.1671831  -0.42990782  0.01788253] yaw=-132.7deg	[env.py: 1019]
+05/14 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.45799637 -0.11617226  0.01788253] yaw=-141.3deg	[env.py: 1019]
+05/14 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.49010086 -0.19134527  0.01788253] yaw=-145.6deg	[env.py: 1019]
+05/14 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:44:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=224.9ms, total=225.0ms	[env.py: 1075]
+05/14 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.167, -0.430, 0.018)	[env.py: 1079]
+05/14 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.7 deg	[env.py: 1082]
+05/14 22:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m	[env.py: 1086]
+05/14 22:44:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:44:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:44:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:44:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:44:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:44:50 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:44:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:44:50 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]
+05/14 22:44:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:44:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:44:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.587s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:44:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.597[m] 91.519[deg]	[grasp_sample.py: 539]
+05/14 22:44:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:44:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:44:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:44:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:45:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:45:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:45:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:46:58 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:47:27 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/14 22:47:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 22:47:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:47:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:47:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_002	[save_utils.py: 785]
+05/14 22:47:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.64s (batch: 4.80s, save: 10.84s)	[pipeline.py: 300]
+05/14 22:47:43 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.38s:
+  episode_total: mean=83.97s, total=251.91s, count=3, min=3294.4ms, max=173883.8ms
+  sensor_polling: mean=392.4ms, total=171.10s, count=436, min=371.5ms, max=795.6ms
+  save_trajectories: mean=10.84s, total=10.84s, count=1, min=10842.4ms, max=10842.4ms
+  physics_step: mean=22.8ms, total=9.95s, count=436, min=16.7ms, max=28.8ms
+  save_batch_prep: mean=4.80s, total=4.80s, count=1, min=4800.8ms, max=4800.8ms
+  task_sampling: mean=458.3ms, total=1.38s, count=3, min=400.7ms, max=494.0ms
+  task_specific_sample: mean=454.4ms, total=1.36s, count=3, min=397.0ms, max=490.1ms
+  scene_randomize: mean=1.8ms, total=5.3ms, count=3, min=1.2ms, max=2.7ms
+  mj_forward_sync: mean=451.8us, total=1.4ms, count=3, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.4us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:47:45 WARNING: [Worker 0] No trajectory data to save for chunk_002	[pipeline.py: 234]
+05/14 22:47:45 WARNING: [Worker 0] No trajectory data to save for chunk_002	[pipeline.py: 234]
+05/14 22:47:45 INFO: [Worker 0] Worker 0 completed house 1: 10/11 successful episodes	[pipeline.py: 1323]
+05/14 22:47:45 INFO: [Worker 0] [PROFILE] House 1 complete: 10/11 successful, 11 episodes, total_time=4313.21s
+  House averages:
+  episode_total: mean=133.88s, total=2409.84s, count=18, min=3214.2ms, max=209278.5ms
+  sensor_polling: mean=421.0ms, total=1610.01s, count=3824, min=365.5ms, max=959.5ms
+  save_trajectories: mean=11.89s, total=118.91s, count=10, min=10842.4ms, max=15691.3ms
+  physics_step: mean=24.8ms, total=94.70s, count=3824, min=15.9ms, max=71.4ms
+  save_batch_prep: mean=5.22s, total=52.24s, count=10, min=4595.6ms, max=6803.0ms
+  task_sampling: mean=656.3ms, total=11.81s, count=18, min=391.3ms, max=3396.0ms
+  task_specific_sample: mean=489.2ms, total=8.81s, count=18, min=387.8ms, max=738.2ms
+  scene_load: mean=2.93s, total=2.93s, count=1, min=2932.8ms, max=2932.8ms
+  scene_env_create: mean=1.88s, total=1.88s, count=1, min=1876.4ms, max=1876.4ms
+  scene_compile: mean=876.0ms, total=876.0ms, count=1, min=876.0ms, max=876.0ms
+  compile_mujoco: mean=612.3ms, total=612.3ms, count=1, min=612.3ms, max=612.3ms
+  compile_xml_load: mean=188.0ms, total=188.0ms, count=1, min=188.0ms, max=188.0ms
+  scene_init: mean=118.0ms, total=118.0ms, count=1, min=118.0ms, max=118.0ms
+  scene_asset_install: mean=62.0ms, total=62.0ms, count=1, min=62.0ms, max=62.0ms
+  compile_aux_objects: mean=54.9ms, total=54.9ms, count=1, min=54.9ms, max=54.9ms
+  compile_aux_policy_objects: mean=54.9ms, total=54.9ms, count=1, min=54.9ms, max=54.9ms
+  scene_randomize: mean=2.4ms, total=42.9ms, count=18, min=1.2ms, max=4.2ms
+  asset_install_grasps: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
+  asset_install_objects: mean=14.9ms, total=14.9ms, count=1, min=14.9ms, max=14.9ms
+  mj_forward_sync: mean=473.1us, total=8.5ms, count=18, min=0.4ms, max=0.8ms
+  compile_robot_add: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
+  asset_install_scene: mean=4.8ms, total=4.8ms, count=1, min=4.8ms, max=4.8ms
+  policy_setup: mean=23.2us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/14 22:47:45 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/14 22:47:45 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=4313.21s
+  Worker averages:
+  episode_total: mean=133.88s, total=2409.84s, count=18, min=3214.2ms, max=209278.5ms
+  sensor_polling: mean=421.0ms, total=1610.01s, count=3824, min=365.5ms, max=959.5ms
+  save_trajectories: mean=11.89s, total=118.91s, count=10, min=10842.4ms, max=15691.3ms
+  physics_step: mean=24.8ms, total=94.70s, count=3824, min=15.9ms, max=71.4ms
+  save_batch_prep: mean=5.22s, total=52.24s, count=10, min=4595.6ms, max=6803.0ms
+  task_sampling: mean=656.3ms, total=11.81s, count=18, min=391.3ms, max=3396.0ms
+  task_specific_sample: mean=489.2ms, total=8.81s, count=18, min=387.8ms, max=738.2ms
+  scene_load: mean=2.93s, total=2.93s, count=1, min=2932.8ms, max=2932.8ms
+  scene_env_create: mean=1.88s, total=1.88s, count=1, min=1876.4ms, max=1876.4ms
+  scene_compile: mean=876.0ms, total=876.0ms, count=1, min=876.0ms, max=876.0ms
+  compile_mujoco: mean=612.3ms, total=612.3ms, count=1, min=612.3ms, max=612.3ms
+  compile_xml_load: mean=188.0ms, total=188.0ms, count=1, min=188.0ms, max=188.0ms
+  scene_init: mean=118.0ms, total=118.0ms, count=1, min=118.0ms, max=118.0ms
+  scene_asset_install: mean=62.0ms, total=62.0ms, count=1, min=62.0ms, max=62.0ms
+  compile_aux_objects: mean=54.9ms, total=54.9ms, count=1, min=54.9ms, max=54.9ms
+  compile_aux_policy_objects: mean=54.9ms, total=54.9ms, count=1, min=54.9ms, max=54.9ms
+  scene_randomize: mean=2.4ms, total=42.9ms, count=18, min=1.2ms, max=4.2ms
+  asset_install_grasps: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
+  asset_install_objects: mean=14.9ms, total=14.9ms, count=1, min=14.9ms, max=14.9ms
+  mj_forward_sync: mean=473.1us, total=8.5ms, count=18, min=0.4ms, max=0.8ms
+  compile_robot_add: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
+  asset_install_scene: mean=4.8ms, total=4.8ms, count=1, min=4.8ms, max=4.8ms
+  policy_setup: mean=23.2us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/14 22:47:49 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/14 22:47:49 INFO: Success count: 10, Total count: 11	[pipeline.py: 1491]
+05/14 22:47:49 INFO: Success rate: 90.91%	[pipeline.py: 1492]
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