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+05/14 22:43:40 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/14 22:43:40 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 22:43:40 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/14 22:43:40 INFO: {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_v2/sim_chunks/chunk_103'),
+ '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 0x7ed65483fe10>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
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+                                  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': 40303,
+ '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 22:43:40 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 22:43:40 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/14 22:43:40 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/14 22:43:40 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/14 22:43:40 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 22:43:40 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/14 22:43:40 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_103'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
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+ 'policy_dt_ms': 66.0,
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+                                          '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': 40302,
+ '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 22:43:40 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 22:43:40 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/14 22:43:40 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/14 22:43:40 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/14 22:43:40 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/14 22:43:43 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/14 22:43:43 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 22:43:43 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/14 22:43:43 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_103'),
+ '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 0x79fdb27bce50>,
+ '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': 40304,
+ '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 22:43:43 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 22:43:43 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/14 22:43:43 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/14 22:43:43 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 22:43:43 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/14 22:43:43 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 22:43:43 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/14 22:43:43 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/14 22:43:43 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/14 22:43:43 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/14 22:43:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:43:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:43:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:43:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:43:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:43:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:43:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:43:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.020m, effective arm-mount z=0.840m (base_body_z=-0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020013m	[env.py: 870]
+05/14 22:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:43:43 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 22:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:43:43 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/14 22:43:43 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/14 22:43:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:43:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.24683752 -1.16999893 -0.02001287] yaw=149.9deg	[env.py: 1019]
+05/14 22:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:43:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:43:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:43:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.0623739  -0.74936432 -0.02001287] yaw=-148.8deg	[env.py: 1019]
+05/14 22:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:43:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:43:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:43:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030121m	[env.py: 870]
+05/14 22:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:43:43 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 22:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.33125541 -0.10079734 -0.02001287] yaw=-110.9deg	[env.py: 1019]
+05/14 22:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:43:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=24.8ms, retries=118.5ms, total=143.3ms	[env.py: 1075]
+05/14 22:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.247, -1.170, -0.020)	[env.py: 1079]
+05/14 22:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.9 deg	[env.py: 1082]
+05/14 22:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m	[env.py: 1086]
+05/14 22:43:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:43:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 135.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 139.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.04217146 -0.32263643  0.03012074] yaw=-126.3deg	[env.py: 1019]
+05/14 22:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.01869046 -1.12017771  0.03012074] yaw=154.6deg	[env.py: 1019]
+05/14 22:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:43:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=48.7ms, retries=223.4ms, total=272.1ms	[env.py: 1075]
+05/14 22:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.042, -0.323, 0.030)	[env.py: 1079]
+05/14 22:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.3 deg	[env.py: 1082]
+05/14 22:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.144m	[env.py: 1086]
+05/14 22:43:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:43:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:43:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:43:44 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:43:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:43:44 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:43:45 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/14 22:43:45 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 22:43:45 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/14 22:43:45 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_103'),
+ '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 0x736117d52690>,
+ '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': 40301,
+ '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 22:43:45 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 22:43:45 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/14 22:43:45 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/14 22:43:45 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/14 22:43:46 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 22:43:46 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/14 22:43:46 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/14 22:43:46 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/14 22:43:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:43:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:43:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:43:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:43:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:43:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:43:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:43:46 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 22:43:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:43:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054849m	[env.py: 870]
+05/14 22:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:43:46 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 22:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 130.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.32471684 -1.10994204  0.05484919] yaw=171.4deg	[env.py: 1019]
+05/14 22:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.00521555 -1.01665223  0.05484919] yaw=183.8deg	[env.py: 1019]
+05/14 22:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:43:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=21.6ms, retries=188.3ms, total=209.9ms	[env.py: 1075]
+05/14 22:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.325, -1.110, 0.055)	[env.py: 1079]
+05/14 22:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.4 deg	[env.py: 1082]
+05/14 22:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m	[env.py: 1086]
+05/14 22:43:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:43:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:43:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:43:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:43:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:43:46 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:43:48 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 22:43:48 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/14 22:43:48 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/14 22:43:48 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/14 22:43:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:43:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:43:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:43:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:43:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:43:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:43:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:43:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:43:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:43:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081465m	[env.py: 870]
+05/14 22:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:43:48 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 22:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.05325223 -0.55425018  0.08146469] yaw=-138.0deg	[env.py: 1019]
+05/14 22:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.18187929 -0.61094592  0.08146469] yaw=-154.4deg	[env.py: 1019]
+05/14 22:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:43:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=21.2ms, retries=174.0ms, total=195.2ms	[env.py: 1075]
+05/14 22:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.053, -0.554, 0.081)	[env.py: 1079]
+05/14 22:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.0 deg	[env.py: 1082]
+05/14 22:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m	[env.py: 1086]
+05/14 22:43:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:43:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:43:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:43:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:43:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:43:48 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:44:18 INFO: [Worker 0] Warmed up parallel IK solver in 34.224s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:44:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:44:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:44:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:44:18 INFO: [Worker 0] Warmed up parallel IK solver in 34.360s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:44:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:44:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:44:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:44:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.744s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:44:19 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.530[m] 97.722[deg]	[grasp_sample.py: 539]
+05/14 22:44:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:44:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:44:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:44:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:44:20 INFO: [Worker 0] Warmed up parallel IK solver in 34.160s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:44:20 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 22:44:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:44:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:44:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.449s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:44:21 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:44:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.914s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:44:21 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.348[m] 89.975[deg]	[grasp_sample.py: 539]
+05/14 22:44:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:44:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:44:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:44:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:44:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:44:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:44:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:44:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:44:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:44:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:44:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:44:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:44:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:44:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.090m, effective arm-mount z=0.770m (base_body_z=-0.090m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.089684m	[env.py: 870]
+05/14 22:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:44:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.02005801 -0.74011016 -0.08968422] yaw=-187.4deg	[env.py: 1019]
+05/14 22:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.15260091 -0.41299273 -0.08968422] yaw=-153.8deg	[env.py: 1019]
+05/14 22:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.25465521 -0.52582144 -0.08968422] yaw=-149.5deg	[env.py: 1019]
+05/14 22:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:44:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.2ms, total=96.3ms	[env.py: 1075]
+05/14 22:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.020, -0.740, -0.090)	[env.py: 1079]
+05/14 22:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -187.4 deg	[env.py: 1082]
+05/14 22:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m	[env.py: 1086]
+05/14 22:44:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:44:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:44:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:44:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:44:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:44:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:44:22 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:44:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:44:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:44:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:44:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:44:23 INFO: [Worker 0] Warmed up parallel IK solver in 34.834s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:44:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:44:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:44:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:44:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.478s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:44:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.614[m] 87.711[deg]	[grasp_sample.py: 539]
+05/14 22:44:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:44:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:44:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:44:25 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 22:44:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.741s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:44:26 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.618[m] 107.575[deg]	[grasp_sample.py: 539]
+05/14 22:44:28 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 22:44:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:44:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:44:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:44:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:44:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:44:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:44:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:44:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:44:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:44:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:44:29 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 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.023950m	[env.py: 870]
+05/14 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:44:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.46301367 -0.09295126 -0.02395035] yaw=-126.0deg	[env.py: 1019]
+05/14 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 143.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:44:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.27483708 -0.28965561 -0.02395035] yaw=-133.4deg	[env.py: 1019]
+05/14 22:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.22015714 -0.07804254 -0.02395035] yaw=-124.0deg	[env.py: 1019]
+05/14 22:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:44:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=384.5ms, total=384.6ms	[env.py: 1075]
+05/14 22:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.463, -0.093, -0.024)	[env.py: 1079]
+05/14 22:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.0 deg	[env.py: 1082]
+05/14 22:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m	[env.py: 1086]
+05/14 22:44:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:44:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:44:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:44:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:44:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:44:30 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:44:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:44:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:44:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:44:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:44:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.237s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:44:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.474[m] 108.986[deg]	[grasp_sample.py: 539]
+05/14 22:44:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:44:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:44:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:44:33 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 22:44:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:45:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:45:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:45:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:45:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:45:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:45:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:45:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:45:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:45:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:45:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:45:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:45:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:45:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:45:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:45:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:45:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:45:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:45:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:45:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:45:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:45:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:45:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:45:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:45:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:45:50 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.513s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:45:50 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.399[deg]	[grasp_sample.py: 539]
+05/14 22:45:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:45:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:45:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:45:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:45:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:45:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:45:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:46:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:46:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:46:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:46:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:46:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:46:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:46:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:46:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:46:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:46:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:46:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:46:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:46:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:46:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:46:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:46:22 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 22:46:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:46:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 74 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:46:24 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.255s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:46:24 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:46:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:46:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:46:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:46:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:46:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:46:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:46:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:46:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:46:26 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 22:46:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:46:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068768m	[env.py: 870]
+05/14 22:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:46:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 135.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.05153418 -0.66965447  0.06876831] yaw=-169.0deg	[env.py: 1019]
+05/14 22:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.42750064 -0.14883713  0.06876831] yaw=-141.7deg	[env.py: 1019]
+05/14 22:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:46:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=201.3ms, total=201.4ms	[env.py: 1075]
+05/14 22:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.052, -0.670, 0.069)	[env.py: 1079]
+05/14 22:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.0 deg	[env.py: 1082]
+05/14 22:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m	[env.py: 1086]
+05/14 22:46:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:46:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:46:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:46:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:46:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:46:26 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:46:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:46:26 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 22:46:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:46:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:46:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.342s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:46:29 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.757[m] 124.638[deg]	[grasp_sample.py: 539]
+05/14 22:46:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:46:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:46:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:46:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:46:29 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 22:46:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:46:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:46:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:46:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:46:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:46:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:46:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:46:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:46:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:46:41 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 22:46:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:46:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:46:43 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.792s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:46:43 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 4.587[deg]	[grasp_sample.py: 539]
+05/14 22:46:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:46:44 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 22:46:44 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:46:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:46:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:46:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:46:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:46:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:46:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:46:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:46:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:46:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:46:46 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 22:46:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:46:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.017m, effective arm-mount z=0.843m (base_body_z=-0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:46:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:46:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:46:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.017111m	[env.py: 870]
+05/14 22:46:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:46:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:46:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:46:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:46:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 156.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:46:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:46:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.08931155 -0.51406715 -0.0171114 ] yaw=-181.9deg	[env.py: 1019]
+05/14 22:46:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:46:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.26309322 -0.7803812  -0.0171114 ] yaw=-204.8deg	[env.py: 1019]
+05/14 22:46:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:46:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.25323504 -0.75789587 -0.0171114 ] yaw=-184.9deg	[env.py: 1019]
+05/14 22:46:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:46:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:46:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=172.3ms, total=172.4ms	[env.py: 1075]
+05/14 22:46:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.089, -0.514, -0.017)	[env.py: 1079]
+05/14 22:46:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -181.9 deg	[env.py: 1082]
+05/14 22:46:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.030m	[env.py: 1086]
+05/14 22:46:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:46:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:46:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:46:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:46:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:46:46 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:46:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:46:46 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 22:46:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:46:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:46:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:46:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.195s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:46:49 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.641[m] 94.959[deg]	[grasp_sample.py: 539]
+05/14 22:46:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:46:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:46:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:46:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:46:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:46:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:46:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:46:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:46:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:46:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:46:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:46:57 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 22:46:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:46:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:46:57 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.563s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:46:57 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.054[m] 1.277[deg]	[grasp_sample.py: 539]
+05/14 22:46:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:46:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:46:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:47:02 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:47:03 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 22:47:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 22:47:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:47:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:47:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 22:47:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 13.97s (batch: 3.20s, save: 10.78s)	[pipeline.py: 300]
+05/14 22:47:18 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.18s:
+  episode_total: mean=212.81s, total=212.81s, count=1, min=212810.6ms, max=212810.6ms
+  sensor_polling: mean=432.2ms, total=129.67s, count=300, min=397.3ms, max=588.3ms
+  save_trajectories: mean=10.78s, total=10.78s, count=1, min=10776.8ms, max=10776.8ms
+  physics_step: mean=24.6ms, total=7.37s, count=300, min=17.8ms, max=45.2ms
+  save_batch_prep: mean=3.20s, total=3.20s, count=1, min=3195.6ms, max=3195.6ms
+  task_sampling: mean=3.18s, total=3.18s, count=1, min=3182.4ms, max=3182.4ms
+  scene_load: mean=2.73s, total=2.73s, count=1, min=2729.2ms, max=2729.2ms
+  scene_env_create: mean=1.66s, total=1.66s, count=1, min=1655.5ms, max=1655.5ms
+  scene_compile: mean=905.8ms, total=905.8ms, count=1, min=905.8ms, max=905.8ms
+  compile_mujoco: mean=640.2ms, total=640.2ms, count=1, min=640.2ms, max=640.2ms
+  task_specific_sample: mean=450.6ms, total=450.6ms, count=1, min=450.6ms, max=450.6ms
+  compile_xml_load: mean=193.2ms, total=193.2ms, count=1, min=193.2ms, max=193.2ms
+  scene_init: mean=115.4ms, total=115.4ms, count=1, min=115.4ms, max=115.4ms
+  compile_aux_objects: mean=54.4ms, total=54.4ms, count=1, min=54.4ms, max=54.4ms
+  compile_aux_policy_objects: mean=54.4ms, total=54.4ms, count=1, min=54.4ms, max=54.4ms
+  scene_asset_install: mean=52.2ms, total=52.2ms, count=1, min=52.2ms, max=52.2ms
+  asset_install_grasps: mean=36.6ms, total=36.6ms, count=1, min=36.6ms, max=36.6ms
+  asset_install_objects: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms
+  compile_robot_add: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
+  asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms
+  scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
+  mj_forward_sync: mean=451.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:47:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:47:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:47:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:47:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:47:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:47:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:47:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:47:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:47:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:47:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:47:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037462m	[env.py: 870]
+05/14 22:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:47:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 122.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -177.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.56617405 -0.17943159  0.03746171] yaw=-133.7deg	[env.py: 1019]
+05/14 22:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:47:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=160.9ms, total=161.0ms	[env.py: 1075]
+05/14 22:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.566, -0.179, 0.037)	[env.py: 1079]
+05/14 22:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.7 deg	[env.py: 1082]
+05/14 22:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m	[env.py: 1086]
+05/14 22:47:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:47:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:47:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:47:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:47:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:47:20 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:47:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:47:20 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 22:47:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:47:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:47:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.725s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:47:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.565[m] 97.839[deg]	[grasp_sample.py: 539]
+05/14 22:47:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:47:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:47:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:47:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:47:23 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 22:47:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 22:47:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:47:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:47:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 22:47:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 13.48s (batch: 2.89s, save: 10.59s)	[pipeline.py: 300]
+05/14 22:47:37 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.79s:
+  episode_total: mean=237.30s, total=237.30s, count=1, min=237298.0ms, max=237298.0ms
+  sensor_polling: mean=393.9ms, total=118.16s, count=300, min=374.3ms, max=572.4ms
+  save_trajectories: mean=10.59s, total=10.59s, count=1, min=10589.7ms, max=10589.7ms
+  physics_step: mean=24.2ms, total=7.25s, count=300, min=15.2ms, max=52.0ms
+  task_sampling: mean=3.79s, total=3.79s, count=1, min=3788.5ms, max=3788.5ms
+  scene_load: mean=3.31s, total=3.31s, count=1, min=3308.6ms, max=3308.6ms
+  save_batch_prep: mean=2.89s, total=2.89s, count=1, min=2888.9ms, max=2888.9ms
+  scene_env_create: mean=2.01s, total=2.01s, count=1, min=2009.0ms, max=2009.0ms
+  scene_compile: mean=1.12s, total=1.12s, count=1, min=1115.5ms, max=1115.5ms
+  compile_mujoco: mean=720.5ms, total=720.5ms, count=1, min=720.5ms, max=720.5ms
+  task_specific_sample: mean=477.0ms, total=477.0ms, count=1, min=477.0ms, max=477.0ms
+  compile_xml_load: mean=311.7ms, total=311.7ms, count=1, min=311.7ms, max=311.7ms
+  scene_init: mean=132.5ms, total=132.5ms, count=1, min=132.5ms, max=132.5ms
+  compile_aux_objects: mean=54.2ms, total=54.2ms, count=1, min=54.2ms, max=54.2ms
+  compile_aux_policy_objects: mean=54.2ms, total=54.2ms, count=1, min=54.2ms, max=54.2ms
+  scene_asset_install: mean=51.3ms, total=51.3ms, count=1, min=51.3ms, max=51.3ms
+  asset_install_grasps: mean=37.2ms, total=37.2ms, count=1, min=37.2ms, max=37.2ms
+  compile_robot_add: mean=20.2ms, total=20.2ms, count=1, min=20.2ms, max=20.2ms
+  asset_install_objects: mean=10.8ms, total=10.8ms, count=1, min=10.8ms, max=10.8ms
+  asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=546.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=31.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:47:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:47:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:47:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:47:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:47:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:47:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:47:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:47:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:47:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:47:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:47:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.065m, effective arm-mount z=0.795m (base_body_z=-0.065m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.065379m	[env.py: 870]
+05/14 22:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:47:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.18217808 -0.31368362 -0.06537898] yaw=-173.5deg	[env.py: 1019]
+05/14 22:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:47:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=356.2ms, total=356.2ms	[env.py: 1075]
+05/14 22:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.182, -0.314, -0.065)	[env.py: 1079]
+05/14 22:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.5 deg	[env.py: 1082]
+05/14 22:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.024m	[env.py: 1086]
+05/14 22:47:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:47:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:47:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:47:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:47:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:47:39 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:47:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:47:39 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 22:47:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:47:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:47:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:47:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.285s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:47:41 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.653[m] 69.672[deg]	[grasp_sample.py: 539]
+05/14 22:47:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:47:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:47:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:47:42 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 22:47:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:47:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:47:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:47:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:47:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:48:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:48:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:48:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:48:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:48:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:48:42 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:48:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:48:58 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:49:04 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 22:49:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/14 22:49:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:49:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:49:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 22:49:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 14.63s (batch: 3.54s, save: 11.09s)	[pipeline.py: 300]
+05/14 22:49:19 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=5.53s:
+  episode_total: mean=83.68s, total=334.72s, count=4, min=5775.4ms, max=173175.9ms
+  sensor_polling: mean=414.8ms, total=214.87s, count=518, min=359.9ms, max=644.7ms
+  physics_step: mean=25.8ms, total=13.35s, count=518, min=16.9ms, max=39.3ms
+  save_trajectories: mean=11.09s, total=11.09s, count=1, min=11094.1ms, max=11094.1ms
+  task_sampling: mean=1.38s, total=5.53s, count=4, min=367.2ms, max=4086.5ms
+  save_batch_prep: mean=3.54s, total=3.54s, count=1, min=3536.6ms, max=3536.6ms
+  scene_load: mean=3.49s, total=3.49s, count=1, min=3487.7ms, max=3487.7ms
+  task_specific_sample: mean=506.2ms, total=2.02s, count=4, min=364.4ms, max=624.9ms
+  scene_env_create: mean=1.95s, total=1.95s, count=1, min=1948.7ms, max=1948.7ms
+  scene_compile: mean=1.34s, total=1.34s, count=1, min=1340.9ms, max=1340.9ms
+  compile_mujoco: mean=829.5ms, total=829.5ms, count=1, min=829.5ms, max=829.5ms
+  compile_xml_load: mean=420.2ms, total=420.2ms, count=1, min=420.2ms, max=420.2ms
+  scene_init: mean=144.3ms, total=144.3ms, count=1, min=144.3ms, max=144.3ms
+  compile_aux_objects: mean=61.8ms, total=61.8ms, count=1, min=61.8ms, max=61.8ms
+  compile_aux_policy_objects: mean=61.8ms, total=61.8ms, count=1, min=61.8ms, max=61.8ms
+  scene_asset_install: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms
+  asset_install_grasps: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms
+  compile_robot_add: mean=20.2ms, total=20.2ms, count=1, min=20.2ms, max=20.2ms
+  scene_randomize: mean=3.4ms, total=13.5ms, count=4, min=1.3ms, max=9.4ms
+  asset_install_objects: mean=11.3ms, total=11.3ms, count=1, min=11.3ms, max=11.3ms
+  asset_install_scene: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms
+  mj_forward_sync: mean=591.7us, total=2.4ms, count=4, min=0.5ms, max=0.8ms
+  policy_setup: mean=21.7us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:49:19 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 22:49:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 22:49:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:49:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:49:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:49:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:49:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:49:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:49:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:49:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:49:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:49:20 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 22:49:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:49:20 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 22:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.044733m	[env.py: 870]
+05/14 22:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:49:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.16655114 -1.18909033 -0.04473334] yaw=139.9deg	[env.py: 1019]
+05/14 22:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.00646673 -0.40057265 -0.04473334] yaw=-158.4deg	[env.py: 1019]
+05/14 22:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 127.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.32286341 -1.16880343 -0.04473334] yaw=163.2deg	[env.py: 1019]
+05/14 22:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:49:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=94.1ms, total=94.2ms	[env.py: 1075]
+05/14 22:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.167, -1.189, -0.045)	[env.py: 1079]
+05/14 22:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 139.9 deg	[env.py: 1082]
+05/14 22:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m	[env.py: 1086]
+05/14 22:49:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:49:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:49:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:49:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:49:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:49:20 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:49:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:49:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:49:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:49:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:49:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.658s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:49:23 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.572[m] 60.680[deg]	[grasp_sample.py: 539]
+05/14 22:49:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:49:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:49:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:49:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:49:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:49:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:49:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:49:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:49:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 22:49:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 14.34s (batch: 3.66s, save: 10.68s)	[pipeline.py: 300]
+05/14 22:49:34 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=3.98s:
+  episode_total: mean=174.71s, total=349.42s, count=2, min=167839.8ms, max=181577.6ms
+  sensor_polling: mean=400.9ms, total=216.08s, count=539, min=366.7ms, max=605.5ms
+  physics_step: mean=23.7ms, total=12.77s, count=539, min=15.7ms, max=36.1ms
+  save_trajectories: mean=10.68s, total=10.68s, count=1, min=10679.8ms, max=10679.8ms
+  task_sampling: mean=1.99s, total=3.98s, count=2, min=458.6ms, max=3521.8ms
+  save_batch_prep: mean=3.66s, total=3.66s, count=1, min=3662.0ms, max=3662.0ms
+  scene_load: mean=3.03s, total=3.03s, count=1, min=3032.5ms, max=3032.5ms
+  scene_env_create: mean=1.85s, total=1.85s, count=1, min=1846.6ms, max=1846.6ms
+  scene_compile: mean=1.01s, total=1.01s, count=1, min=1013.8ms, max=1013.8ms
+  task_specific_sample: mean=471.2ms, total=942.3ms, count=2, min=455.7ms, max=486.6ms
+  compile_mujoco: mean=758.6ms, total=758.6ms, count=1, min=758.6ms, max=758.6ms
+  compile_xml_load: mean=184.6ms, total=184.6ms, count=1, min=184.6ms, max=184.6ms
+  scene_init: mean=117.8ms, total=117.8ms, count=1, min=117.8ms, max=117.8ms
+  scene_asset_install: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms
+  compile_aux_objects: mean=53.4ms, total=53.4ms, count=1, min=53.4ms, max=53.4ms
+  compile_aux_policy_objects: mean=53.4ms, total=53.4ms, count=1, min=53.4ms, max=53.4ms
+  asset_install_grasps: mean=37.8ms, total=37.8ms, count=1, min=37.8ms, max=37.8ms
+  asset_install_objects: mean=12.2ms, total=12.2ms, count=1, min=12.2ms, max=12.2ms
+  compile_robot_add: mean=8.1ms, total=8.1ms, count=1, min=8.1ms, max=8.1ms
+  asset_install_scene: mean=4.0ms, total=4.0ms, count=1, min=4.0ms, max=4.0ms
+  scene_randomize: mean=1.3ms, total=2.6ms, count=2, min=1.2ms, max=1.4ms
+  mj_forward_sync: mean=473.1us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=29.3us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:49:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:49:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:49:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:49:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:49:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:49:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:49:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:49:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:49:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:49:35 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 22:49:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:49:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.029m, effective arm-mount z=0.831m (base_body_z=-0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.029294m	[env.py: 870]
+05/14 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:49:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 134.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.09013778 -0.78935511 -0.02929413] yaw=-165.5deg	[env.py: 1019]
+05/14 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -167.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 136.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.18265135 -0.34770073 -0.02929413] yaw=-135.7deg	[env.py: 1019]
+05/14 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:49:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=181.0ms, total=181.0ms	[env.py: 1075]
+05/14 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.090, -0.789, -0.029)	[env.py: 1079]
+05/14 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.5 deg	[env.py: 1082]
+05/14 22:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.165m	[env.py: 1086]
+05/14 22:49:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:49:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:49:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:49:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:49:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:49:35 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:49:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:49:35 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 22:49:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:49:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:49:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:49:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.121s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:49:38 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:49:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:49:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:49:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:49:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:49:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:49:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:49:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:49:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:49:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:49:39 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 22:49:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:49:39 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 22:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045227m	[env.py: 870]
+05/14 22:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:49:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.07260584 -0.80528885  0.04522746] yaw=-180.4deg	[env.py: 1019]
+05/14 22:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.41143577 -0.2881145   0.04522746] yaw=-158.7deg	[env.py: 1019]
+05/14 22:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.05321476 -1.23122536  0.04522746] yaw=154.4deg	[env.py: 1019]
+05/14 22:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:49:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=130.8ms, total=130.8ms	[env.py: 1075]
+05/14 22:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.073, -0.805, 0.045)	[env.py: 1079]
+05/14 22:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.4 deg	[env.py: 1082]
+05/14 22:49:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m	[env.py: 1086]
+05/14 22:49:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:49:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:49:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:49:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:49:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:49:39 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:49:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:49:39 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 22:49:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:49:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:49:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:49:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:49:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:49:40 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 22:49:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:49:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:49:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.075s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:49:41 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.635[m] 87.761[deg]	[grasp_sample.py: 539]
+05/14 22:49:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:49:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:49:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:49:42 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 22:49:42 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.263s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:49:42 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.111[m] 2.448[deg]	[grasp_sample.py: 539]
+05/14 22:49:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:49:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:49:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:49:50 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:49:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:49:53 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:50:10 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 22:50:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 22:50:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:50:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:50:14 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 22:50:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 22:50:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:50:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:50:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:50:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:50:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 22:50:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 13.97s (batch: 3.17s, save: 10.80s)	[pipeline.py: 300]
+05/14 22:50:25 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.61s:
+  episode_total: mean=166.32s, total=166.32s, count=1, min=166322.1ms, max=166322.1ms
+  sensor_polling: mean=395.6ms, total=118.67s, count=300, min=370.3ms, max=580.6ms
+  save_trajectories: mean=10.80s, total=10.80s, count=1, min=10799.8ms, max=10799.8ms
+  physics_step: mean=23.9ms, total=7.18s, count=300, min=21.3ms, max=37.2ms
+  save_batch_prep: mean=3.17s, total=3.17s, count=1, min=3166.1ms, max=3166.1ms
+  task_sampling: mean=613.9ms, total=613.9ms, count=1, min=613.9ms, max=613.9ms
+  task_specific_sample: mean=610.0ms, total=610.0ms, count=1, min=610.0ms, max=610.0ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=459.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.7us, 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 22:50:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:50:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:50:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:50:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:50:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:50:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:50:26 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 22:50:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:50:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024539m	[env.py: 870]
+05/14 22:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:50:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 122.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 125.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.06771801 -1.11678194  0.02453866] yaw=176.4deg	[env.py: 1019]
+05/14 22:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.21535204 -0.98359274  0.02453866] yaw=174.9deg	[env.py: 1019]
+05/14 22:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:50:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=236.4ms, total=236.5ms	[env.py: 1075]
+05/14 22:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.068, -1.117, 0.025)	[env.py: 1079]
+05/14 22:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.4 deg	[env.py: 1082]
+05/14 22:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.051m	[env.py: 1086]
+05/14 22:50:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:50:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:50:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:50:27 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:50:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:50:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:50:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:50:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:50:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:50:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 22:50:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 13.40s (batch: 2.70s, save: 10.70s)	[pipeline.py: 300]
+05/14 22:50:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.897s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:50:28 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.693[m] 79.161[deg]	[grasp_sample.py: 539]
+05/14 22:50:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:50:28 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.42s:
+  episode_total: mean=188.81s, total=188.81s, count=1, min=188807.2ms, max=188807.2ms
+  sensor_polling: mean=432.1ms, total=129.63s, count=300, min=390.0ms, max=637.6ms
+  save_trajectories: mean=10.70s, total=10.70s, count=1, min=10701.0ms, max=10701.0ms
+  physics_step: mean=25.6ms, total=7.68s, count=300, min=17.5ms, max=39.5ms
+  save_batch_prep: mean=2.70s, total=2.70s, count=1, min=2698.4ms, max=2698.4ms
+  task_sampling: mean=417.0ms, total=417.0ms, count=1, min=417.0ms, max=417.0ms
+  task_specific_sample: mean=413.2ms, total=413.2ms, count=1, min=413.2ms, max=413.2ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=456.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.6us, 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 22:50:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:50:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:50:29 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 22:50:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:50:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:50:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:50:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:50:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:50:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:50:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:50:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:50:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:50:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:50:29 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 22:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.016429m	[env.py: 870]
+05/14 22:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:50:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.37752158 -0.08610616 -0.01642858] yaw=-150.9deg	[env.py: 1019]
+05/14 22:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.30661839 -0.39694029 -0.01642858] yaw=-169.9deg	[env.py: 1019]
+05/14 22:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:50:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=180.7ms, total=180.8ms	[env.py: 1075]
+05/14 22:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.378, -0.086, -0.016)	[env.py: 1079]
+05/14 22:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.9 deg	[env.py: 1082]
+05/14 22:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m	[env.py: 1086]
+05/14 22:50:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:50:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:50:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:50:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:50:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:50:30 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:50:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:50:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:50:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:50:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:50:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.016s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:50:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.795[m] 87.179[deg]	[grasp_sample.py: 539]
+05/14 22:50:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:50:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:50:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:50:33 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 22:50:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:50:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:50:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:51:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:51:34 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:51:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:51:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:51:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:51:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:51:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:51:55 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 22:51:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/14 22:51:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:52:01 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:52:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:52:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 22:52:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 13.68s (batch: 3.07s, save: 10.61s)	[pipeline.py: 300]
+05/14 22:52:09 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.33s:
+  episode_total: mean=169.30s, total=169.30s, count=1, min=169295.2ms, max=169295.2ms
+  sensor_polling: mean=400.3ms, total=120.10s, count=300, min=369.6ms, max=633.6ms
+  save_trajectories: mean=10.61s, total=10.61s, count=1, min=10612.4ms, max=10612.4ms
+  physics_step: mean=25.0ms, total=7.51s, count=300, min=17.1ms, max=35.6ms
+  save_batch_prep: mean=3.07s, total=3.07s, count=1, min=3067.2ms, max=3067.2ms
+  task_sampling: mean=334.2ms, total=334.2ms, count=1, min=334.2ms, max=334.2ms
+  task_specific_sample: mean=330.3ms, total=330.3ms, count=1, min=330.3ms, max=330.3ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=460.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:52:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:52:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:52:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:52:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:52:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:52:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:52:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:52:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:52:11 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 22:52:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:52:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038621m	[env.py: 870]
+05/14 22:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:52:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.25610018  0.02741542  0.0386214 ] yaw=-161.7deg	[env.py: 1019]
+05/14 22:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.2728141  -1.18341453  0.0386214 ] yaw=144.5deg	[env.py: 1019]
+05/14 22:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:52:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=200.2ms, total=200.3ms	[env.py: 1075]
+05/14 22:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.256, 0.027, 0.039)	[env.py: 1079]
+05/14 22:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.7 deg	[env.py: 1082]
+05/14 22:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.175m	[env.py: 1086]
+05/14 22:52:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:52:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:52:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:52:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:52:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:52:11 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:52:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:52:11 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 22:52:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:52:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:52:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.111s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:52:14 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:52:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:52:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:52:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:52:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:52:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:52:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:52:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:52:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:52:15 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 22:52:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:52:15 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 22:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004920m	[env.py: 870]
+05/14 22:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:52:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -169.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.12726324 -0.5323486   0.00491981] yaw=-174.5deg	[env.py: 1019]
+05/14 22:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.27912493 -0.97029785  0.00491981] yaw=154.1deg	[env.py: 1019]
+05/14 22:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 156.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.08912475 -0.99210228  0.00491981] yaw=164.8deg	[env.py: 1019]
+05/14 22:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:52:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.3ms, total=119.4ms	[env.py: 1075]
+05/14 22:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.127, -0.532, 0.005)	[env.py: 1079]
+05/14 22:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.5 deg	[env.py: 1082]
+05/14 22:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.989m	[env.py: 1086]
+05/14 22:52:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:52:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:52:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:52:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:52:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:52:15 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:52:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:52:16 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 22:52:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:52:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:52:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.991s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:52:17 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.725[m] 73.158[deg]	[grasp_sample.py: 539]
+05/14 22:52:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:52:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:52:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:52:22 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 22:52:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 22:52:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:52:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:52:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 22:52:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 14.03s (batch: 3.28s, save: 10.75s)	[pipeline.py: 300]
+05/14 22:52:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:37 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.80s:
+  episode_total: mean=90.29s, total=180.59s, count=2, min=2726.0ms, max=177863.3ms
+  sensor_polling: mean=431.9ms, total=129.56s, count=300, min=375.7ms, max=636.7ms
+  save_trajectories: mean=10.75s, total=10.75s, count=1, min=10752.1ms, max=10752.1ms
+  physics_step: mean=26.6ms, total=7.99s, count=300, min=17.0ms, max=37.4ms
+  save_batch_prep: mean=3.28s, total=3.28s, count=1, min=3275.1ms, max=3275.1ms
+  task_sampling: mean=401.0ms, total=801.9ms, count=2, min=377.6ms, max=424.3ms
+  task_specific_sample: mean=397.9ms, total=795.8ms, count=2, min=374.9ms, max=421.0ms
+  scene_randomize: mean=1.6ms, total=3.2ms, count=2, min=1.1ms, max=2.1ms
+  mj_forward_sync: mean=455.7us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  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 22:52:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:52:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:52:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:52:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:52:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:52:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:52:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:52:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:52:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:52:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:52:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052811m	[env.py: 870]
+05/14 22:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:52:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 136.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.03807009 -1.12492467  0.05281114] yaw=167.6deg	[env.py: 1019]
+05/14 22:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.10626864 -0.44497074  0.05281114] yaw=-164.5deg	[env.py: 1019]
+05/14 22:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.43256699 -0.24522879  0.05281114] yaw=-119.6deg	[env.py: 1019]
+05/14 22:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:52:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=150.7ms, total=150.7ms	[env.py: 1075]
+05/14 22:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.038, -1.125, 0.053)	[env.py: 1079]
+05/14 22:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.6 deg	[env.py: 1082]
+05/14 22:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m	[env.py: 1086]
+05/14 22:52:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:52:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:52:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:52:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:52:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:52:39 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:52:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:52:39 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 22:52:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:52:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:52:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:52:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:52:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:52:40 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 22:52:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:52:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:52:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.634s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:52:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.738[m] 127.566[deg]	[grasp_sample.py: 539]
+05/14 22:52:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:52:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:52:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:52:41 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 22:52:43 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.281s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:52:43 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.110[m] 0.236[deg]	[grasp_sample.py: 539]
+05/14 22:52:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:52:43 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:52:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:52:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:52:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:53:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:53:03 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/14 22:53:03 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=False episode_total=0.46s:
+  episode_total: mean=153.55s, total=153.55s, count=1, min=153546.0ms, max=153546.0ms
+  sensor_polling: mean=428.6ms, total=128.58s, count=300, min=397.9ms, max=640.2ms
+  physics_step: mean=24.2ms, total=7.26s, count=300, min=17.5ms, max=38.0ms
+  task_sampling: mean=461.1ms, total=461.1ms, count=1, min=461.1ms, max=461.1ms
+  task_specific_sample: mean=457.4ms, total=457.4ms, count=1, min=457.4ms, max=457.4ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=466.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:53:03 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 22:53:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 22:53:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:53:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:53:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:53:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:53:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:53:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:53:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:53:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:53:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:53:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:53:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:53:04 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 22:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072695m	[env.py: 870]
+05/14 22:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:53:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.15087231 -0.94925249  0.07269506] yaw=191.9deg	[env.py: 1019]
+05/14 22:53:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.43505014 -0.10122329  0.07269506] yaw=-114.6deg	[env.py: 1019]
+05/14 22:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.00757436 -0.80718326  0.07269506] yaw=-185.8deg	[env.py: 1019]
+05/14 22:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:53:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=211.4ms, total=211.4ms	[env.py: 1075]
+05/14 22:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.151, -0.949, 0.073)	[env.py: 1079]
+05/14 22:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 191.9 deg	[env.py: 1082]
+05/14 22:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m	[env.py: 1086]
+05/14 22:53:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:53:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:53:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:53:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:53:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:53:05 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:53:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:53:05 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 22:53:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:53:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:53:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.752s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:53:06 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.523[m] 81.974[deg]	[grasp_sample.py: 539]
+05/14 22:53:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:53:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:53:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:53:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:53:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:53:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 22:53:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 13.29s (batch: 3.08s, save: 10.21s)	[pipeline.py: 300]
+05/14 22:53:17 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.53s:
+  episode_total: mean=170.70s, total=170.70s, count=1, min=170704.8ms, max=170704.8ms
+  sensor_polling: mean=416.3ms, total=124.90s, count=300, min=371.7ms, max=628.2ms
+  save_trajectories: mean=10.21s, total=10.21s, count=1, min=10210.1ms, max=10210.1ms
+  physics_step: mean=24.7ms, total=7.40s, count=300, min=16.6ms, max=37.1ms
+  save_batch_prep: mean=3.08s, total=3.08s, count=1, min=3082.1ms, max=3082.1ms
+  task_sampling: mean=533.9ms, total=533.9ms, count=1, min=533.9ms, max=533.9ms
+  task_specific_sample: mean=529.7ms, total=529.7ms, count=1, min=529.7ms, max=529.7ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=552.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=18.8us, 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 22:53:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:53:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:53:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:53:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:53:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:53:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:53:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:53:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:53:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:53:18 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 22:53:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:53:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063329m	[env.py: 870]
+05/14 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:53:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 128.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.50150901 -0.13515438  0.06332861] yaw=-145.0deg	[env.py: 1019]
+05/14 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:53:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=174.8ms, total=174.8ms	[env.py: 1075]
+05/14 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.502, -0.135, 0.063)	[env.py: 1079]
+05/14 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.0 deg	[env.py: 1082]
+05/14 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m	[env.py: 1086]
+05/14 22:53:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:53:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:53:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:53:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:53:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:53:19 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:53:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:53:19 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 22:53:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:53:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:53:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.622s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:53:22 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.502[m] 98.465[deg]	[grasp_sample.py: 539]
+05/14 22:53:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:53:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:53:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:53:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:53:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:53:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:53:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:53:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:54:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:54:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:54:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:54:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:54:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:54:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:54:21 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/14 22:54:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:54:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:54:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:54:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:54:22 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.529s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:54:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.518[deg]	[grasp_sample.py: 539]
+05/14 22:54:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:54:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:54:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:54:34 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:54:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:54:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:54:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:54:51 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:54:56 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 22:54:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/14 22:54:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:55:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:55:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 22:55:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 14.14s (batch: 2.92s, save: 11.22s)	[pipeline.py: 300]
+05/14 22:55:10 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.91s:
+  episode_total: mean=89.02s, total=178.04s, count=2, min=2773.8ms, max=175267.8ms
+  sensor_polling: mean=420.9ms, total=126.26s, count=300, min=363.9ms, max=643.5ms
+  save_trajectories: mean=11.22s, total=11.22s, count=1, min=11216.5ms, max=11216.5ms
+  physics_step: mean=27.0ms, total=8.10s, count=300, min=17.6ms, max=40.6ms
+  save_batch_prep: mean=2.92s, total=2.92s, count=1, min=2922.1ms, max=2922.1ms
+  task_sampling: mean=454.6ms, total=909.1ms, count=2, min=425.5ms, max=483.7ms
+  task_specific_sample: mean=451.3ms, total=902.6ms, count=2, min=422.5ms, max=480.1ms
+  scene_randomize: mean=1.6ms, total=3.1ms, count=2, min=1.1ms, max=2.0ms
+  mj_forward_sync: mean=467.2us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=27.4us, 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 22:55:12 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 22:55:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 22:55:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:55:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:55:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:55:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:55:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:55:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:55:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:55:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:55:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:55:12 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 22:55:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:55:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053258m	[env.py: 870]
+05/14 22:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:55:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.33805147 -1.19383389  0.05325786] yaw=137.5deg	[env.py: 1019]
+05/14 22:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.2466414  -0.46698565  0.05325786] yaw=-166.3deg	[env.py: 1019]
+05/14 22:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.00629505 -0.6973363   0.05325786] yaw=-199.8deg	[env.py: 1019]
+05/14 22:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:55:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.9ms, total=172.0ms	[env.py: 1075]
+05/14 22:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.338, -1.194, 0.053)	[env.py: 1079]
+05/14 22:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 137.5 deg	[env.py: 1082]
+05/14 22:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m	[env.py: 1086]
+05/14 22:55:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:55:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:55:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:55:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:55:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:55:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:55:12 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:55:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:55:12 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 22:55:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:55:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:55:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.857s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:55:13 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.524[m] 81.738[deg]	[grasp_sample.py: 539]
+05/14 22:55:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:55:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:55:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:55:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:55:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:55:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:55:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:55:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:55:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:55:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:55:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:55:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:55:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:55:24 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 22:55:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:55:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:55:25 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.654s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:55:25 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.034[m] 0.801[deg]	[grasp_sample.py: 539]
+05/14 22:55:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:55:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:55:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 22:55:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 13.43s (batch: 3.14s, save: 10.29s)	[pipeline.py: 300]
+05/14 22:55:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:55:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:55:26 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.42s:
+  episode_total: mean=167.36s, total=167.36s, count=1, min=167364.1ms, max=167364.1ms
+  sensor_polling: mean=401.1ms, total=120.34s, count=300, min=363.6ms, max=628.2ms
+  save_trajectories: mean=10.29s, total=10.29s, count=1, min=10288.0ms, max=10288.0ms
+  physics_step: mean=24.0ms, total=7.20s, count=300, min=21.4ms, max=35.0ms
+  save_batch_prep: mean=3.14s, total=3.14s, count=1, min=3143.5ms, max=3143.5ms
+  task_sampling: mean=418.2ms, total=418.2ms, count=1, min=418.2ms, max=418.2ms
+  task_specific_sample: mean=414.3ms, total=414.3ms, count=1, min=414.3ms, max=414.3ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=455.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.1us, 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 22:55:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:55:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:55:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:55:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:55:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:55:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:55:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:55:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:55:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:55:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:55:27 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 22:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002316m	[env.py: 870]
+05/14 22:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:55:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 123.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 127.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.12781744 -1.29092972  0.00231611] yaw=173.4deg	[env.py: 1019]
+05/14 22:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:55:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=164.8ms, total=164.9ms	[env.py: 1075]
+05/14 22:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.128, -1.291, 0.002)	[env.py: 1079]
+05/14 22:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.4 deg	[env.py: 1082]
+05/14 22:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m	[env.py: 1086]
+05/14 22:55:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:55:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:55:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:55:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:55:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:55:27 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:55:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:55:27 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 22:55:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:55:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:55:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.544s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:55:31 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.611[m] 82.053[deg]	[grasp_sample.py: 539]
+05/14 22:55:32 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 22:55:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:55:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:55:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:55:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:55:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:55:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:55:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:55:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:55:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:55:34 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 22:55:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:55:34 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 22:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095586m	[env.py: 870]
+05/14 22:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:55:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.08586984 -0.91469027  0.09558595] yaw=197.4deg	[env.py: 1019]
+05/14 22:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.38214136 -0.0543285   0.09558595] yaw=-150.7deg	[env.py: 1019]
+05/14 22:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 159.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.08334887 -0.76557724  0.09558595] yaw=-154.6deg	[env.py: 1019]
+05/14 22:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:55:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=247.6ms, total=247.6ms	[env.py: 1075]
+05/14 22:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.086, -0.915, 0.096)	[env.py: 1079]
+05/14 22:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 197.4 deg	[env.py: 1082]
+05/14 22:55:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m	[env.py: 1086]
+05/14 22:55:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:55:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:55:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:55:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:55:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:55:34 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:55:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:55:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:55:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:55:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:55:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.266s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:55:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.712[m] 109.655[deg]	[grasp_sample.py: 539]
+05/14 22:55:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:55:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:55:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:55:36 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 22:55:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:55:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:55:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:55:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:55:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:55:42 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:55:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:55:50 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:55:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:56:04 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 22:56:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 22:56:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:56:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:56:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:56:11 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 22:56:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 22:56:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:56:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:56:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 22:56:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 16.12s (batch: 2.79s, save: 13.33s)	[pipeline.py: 300]
+05/14 22:56:20 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.42s:
+  episode_total: mean=182.19s, total=182.19s, count=1, min=182186.5ms, max=182186.5ms
+  sensor_polling: mean=414.0ms, total=124.21s, count=300, min=381.8ms, max=612.4ms
+  save_trajectories: mean=13.33s, total=13.33s, count=1, min=13332.3ms, max=13332.3ms
+  physics_step: mean=24.3ms, total=7.29s, count=300, min=21.4ms, max=37.4ms
+  save_batch_prep: mean=2.79s, total=2.79s, count=1, min=2786.7ms, max=2786.7ms
+  task_sampling: mean=421.2ms, total=421.2ms, count=1, min=421.2ms, max=421.2ms
+  task_specific_sample: mean=417.8ms, total=417.8ms, count=1, min=417.8ms, max=417.8ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=466.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=28.1us, 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 22:56:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:56:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:56:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:56:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:56:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:56:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:56:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:56:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:56:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:56:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:56:22 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 22:56:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:56:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:56:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085998m	[env.py: 870]
+05/14 22:56:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:56:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:56:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:56:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 151.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.02152886 -0.45693345  0.08599844] yaw=-153.6deg	[env.py: 1019]
+05/14 22:56:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:56:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.04970332 -0.77847638  0.08599844] yaw=-205.0deg	[env.py: 1019]
+05/14 22:56:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:56:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 158.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.04374511 -1.2329763   0.08599844] yaw=175.2deg	[env.py: 1019]
+05/14 22:56:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:56:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:56:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=737.3ms, total=737.3ms	[env.py: 1075]
+05/14 22:56:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.022, -0.457, 0.086)	[env.py: 1079]
+05/14 22:56:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.6 deg	[env.py: 1082]
+05/14 22:56:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.153m	[env.py: 1086]
+05/14 22:56:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:56:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:56:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:56:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:56:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:56:23 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:56:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:56:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:56:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:56:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:56:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.289s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:56:25 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:56:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:56:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:56:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:56:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:56:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:56:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:56:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:56:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:56:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:56:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:56:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.056m, effective arm-mount z=0.804m (base_body_z=-0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.055870m	[env.py: 870]
+05/14 22:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:56:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.20890306 -0.68733817 -0.05587043] yaw=-161.3deg	[env.py: 1019]
+05/14 22:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.35966995 -0.00496718 -0.05587043] yaw=-154.1deg	[env.py: 1019]
+05/14 22:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.07126637 -1.19404477 -0.05587043] yaw=178.7deg	[env.py: 1019]
+05/14 22:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:56:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.7ms, total=186.7ms	[env.py: 1075]
+05/14 22:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.209, -0.687, -0.056)	[env.py: 1079]
+05/14 22:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.3 deg	[env.py: 1082]
+05/14 22:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m	[env.py: 1086]
+05/14 22:56:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:56:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:56:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:56:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:56:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:56:27 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:56:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:56:27 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 22:56:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:56:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:56:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:56:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 22:56:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 16.23s (batch: 3.70s, save: 12.53s)	[pipeline.py: 300]
+05/14 22:56:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.703s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:56:28 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.439[m] 94.286[deg]	[grasp_sample.py: 539]
+05/14 22:56:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:56:28 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.46s:
+  episode_total: mean=203.76s, total=203.76s, count=1, min=203763.1ms, max=203763.1ms
+  sensor_polling: mean=429.6ms, total=128.89s, count=300, min=384.2ms, max=682.6ms
+  save_trajectories: mean=12.53s, total=12.53s, count=1, min=12526.1ms, max=12526.1ms
+  physics_step: mean=24.1ms, total=7.24s, count=300, min=15.3ms, max=35.6ms
+  save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3703.6ms, max=3703.6ms
+  task_sampling: mean=459.2ms, total=459.2ms, count=1, min=459.2ms, max=459.2ms
+  task_specific_sample: mean=456.0ms, total=456.0ms, count=1, min=456.0ms, max=456.0ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=448.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:56:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:56:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:56:29 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 22:56:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:56:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:56:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:56:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:56:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:56:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:56:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:56:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:56:30 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 22:56:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:56:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053098m	[env.py: 870]
+05/14 22:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:56:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 126.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.57075117 -0.09651149  0.05309815] yaw=-123.4deg	[env.py: 1019]
+05/14 22:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.05379048 -0.70765754  0.05309815] yaw=-202.2deg	[env.py: 1019]
+05/14 22:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:56:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=161.6ms, total=161.6ms	[env.py: 1075]
+05/14 22:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.571, -0.097, 0.053)	[env.py: 1079]
+05/14 22:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.4 deg	[env.py: 1082]
+05/14 22:56:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m	[env.py: 1086]
+05/14 22:56:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:56:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:56:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:56:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:56:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:56:30 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:56:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:56:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:56:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:56:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:56:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.575s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:56:34 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.589[m] 91.840[deg]	[grasp_sample.py: 539]
+05/14 22:56:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:56:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:56:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:56:35 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 22:56:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:56:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:56:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:56:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:56:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:56:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:56:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:56:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:56:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:57:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:57:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:57:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:57:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:57:02 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 22:57:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:57:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:57:02 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.555s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:57:02 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.542[deg]	[grasp_sample.py: 539]
+05/14 22:57:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:57:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:57:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:57:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:57:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:57:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:57:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:57:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:57:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:57:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:57:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:57:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:57:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:57:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:57:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:57:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:57:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:57:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:57:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:57:17 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.492s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:57:17 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.523[deg]	[grasp_sample.py: 539]
+05/14 22:57:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:57:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:57:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:57:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:57:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:57:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:57:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:57:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:57:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:57:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:57:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:57:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:57:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:57:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:57:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:57:32 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 22:57:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:57:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:57:32 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.489s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:57:32 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.523[deg]	[grasp_sample.py: 539]
+05/14 22:57:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:57:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:57:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:57:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:57:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:57:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:57:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:57:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:57:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:57:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:57:44 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:57:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:57:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:57:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:57:47 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/14 22:57:47 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/14 22:57:47 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=False episode_total=0.43s:
+  episode_total: mean=155.25s, total=155.25s, count=1, min=155246.9ms, max=155246.9ms
+  sensor_polling: mean=404.7ms, total=102.39s, count=253, min=355.8ms, max=619.5ms
+  physics_step: mean=24.4ms, total=6.17s, count=253, min=14.6ms, max=69.2ms
+  task_sampling: mean=434.1ms, total=434.1ms, count=1, min=434.1ms, max=434.1ms
+  task_specific_sample: mean=430.2ms, total=430.2ms, count=1, min=430.2ms, max=430.2ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=460.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:57:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:57:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:57:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:57:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:57:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:57:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:57:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:57:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:57:49 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 22:57:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:57:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062699m	[env.py: 870]
+05/14 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:57:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 144.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.01472622 -0.41742396  0.06269936] yaw=-170.1deg	[env.py: 1019]
+05/14 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 165.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:57:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=192.9ms, total=192.9ms	[env.py: 1075]
+05/14 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.015, -0.417, 0.063)	[env.py: 1079]
+05/14 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.1 deg	[env.py: 1082]
+05/14 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.160m	[env.py: 1086]
+05/14 22:57:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:57:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:57:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:57:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:57:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:57:49 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:57:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:57:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:57:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:57:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:57:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.247s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:57:51 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:57:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:57:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:57:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:57:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:57:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:57:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:57:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:57:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:57:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:57:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:57:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.094m, effective arm-mount z=0.766m (base_body_z=-0.094m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.093720m	[env.py: 870]
+05/14 22:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:57:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.1755022  -1.25221917 -0.09371995] yaw=181.9deg	[env.py: 1019]
+05/14 22:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.04367851 -0.59872594 -0.09371995] yaw=-175.7deg	[env.py: 1019]
+05/14 22:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.04402313 -0.64505348 -0.09371995] yaw=-147.9deg	[env.py: 1019]
+05/14 22:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:57:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=214.4ms, total=214.4ms	[env.py: 1075]
+05/14 22:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.176, -1.252, -0.094)	[env.py: 1079]
+05/14 22:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 181.9 deg	[env.py: 1082]
+05/14 22:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.999m	[env.py: 1086]
+05/14 22:57:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:57:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:57:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:57:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:57:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:57:53 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:57:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:57:54 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 22:57:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:57:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:57:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.309s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:57:56 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.760[m] 121.016[deg]	[grasp_sample.py: 539]
+05/14 22:57:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:57:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:57:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:57:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:58:07 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 22:58:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 22:58:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:58:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:58:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 22:58:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 13.53s (batch: 3.09s, save: 10.44s)	[pipeline.py: 300]
+05/14 22:58:21 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.93s:
+  episode_total: mean=86.13s, total=172.27s, count=2, min=5368.2ms, max=166901.5ms
+  sensor_polling: mean=396.7ms, total=119.01s, count=300, min=363.0ms, max=631.9ms
+  save_trajectories: mean=10.44s, total=10.44s, count=1, min=10437.9ms, max=10437.9ms
+  physics_step: mean=23.7ms, total=7.12s, count=300, min=16.9ms, max=38.9ms
+  save_batch_prep: mean=3.09s, total=3.09s, count=1, min=3087.1ms, max=3087.1ms
+  task_sampling: mean=462.8ms, total=925.5ms, count=2, min=437.5ms, max=488.0ms
+  task_specific_sample: mean=459.4ms, total=918.8ms, count=2, min=433.6ms, max=485.2ms
+  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.1ms, max=2.6ms
+  mj_forward_sync: mean=466.4us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:58:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:58:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:58:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:58:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:58:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:58:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:58:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:58:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:58:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:58:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:58:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:58:22 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 22:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.062780m	[env.py: 870]
+05/14 22:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:58:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.23641111 -1.16082988 -0.06278019] yaw=170.4deg	[env.py: 1019]
+05/14 22:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:58:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=205.6ms, total=205.7ms	[env.py: 1075]
+05/14 22:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.236, -1.161, -0.063)	[env.py: 1079]
+05/14 22:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.4 deg	[env.py: 1082]
+05/14 22:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m	[env.py: 1086]
+05/14 22:58:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:58:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:58:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:58:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:58:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:58:22 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:58:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:58:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:58:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:58:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:58:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:58:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.765s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:58:23 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.547[m] 97.188[deg]	[grasp_sample.py: 539]
+05/14 22:58:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:58:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:58:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:58:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:58:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:58:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:58:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:58:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:58:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:58:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:58:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:58:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:58:33 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 22:58:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:58:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 82 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:58:35 INFO: [Worker 0] Feasibility-checked 82 grasps in 2.304s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:58:35 INFO: [Worker 0] Feasible grasp found 88 (originally 88): w/ 0.107[m] 48.995[deg]	[grasp_sample.py: 539]
+05/14 22:58:37 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 22:58:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:58:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:58:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:58:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:58:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:58:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:58:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:58:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:58:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:58:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:58:38 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 22:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.069714m	[env.py: 870]
+05/14 22:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:58:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.19858546 -0.01376212 -0.06971358] yaw=-155.9deg	[env.py: 1019]
+05/14 22:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.00480377 -0.7778487  -0.06971358] yaw=-158.3deg	[env.py: 1019]
+05/14 22:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.09664921 -1.29645537 -0.06971358] yaw=147.1deg	[env.py: 1019]
+05/14 22:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:58:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.3ms, total=132.3ms	[env.py: 1075]
+05/14 22:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.199, -0.014, -0.070)	[env.py: 1079]
+05/14 22:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.9 deg	[env.py: 1082]
+05/14 22:58:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.188m	[env.py: 1086]
+05/14 22:58:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:58:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:58:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:58:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:58:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:58:38 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:58:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:58:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:58:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:58:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:58:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.185s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:58:41 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:58:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:58:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:58:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:58:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:58:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:58:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:58:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:58:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:58:42 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 22:58:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:58:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063072m	[env.py: 870]
+05/14 22:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:58:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.22596489 -0.73469704  0.06307192] yaw=-158.8deg	[env.py: 1019]
+05/14 22:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.03274369 -0.43530645  0.06307192] yaw=-172.2deg	[env.py: 1019]
+05/14 22:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.18680914 -0.13173369  0.06307192] yaw=-140.9deg	[env.py: 1019]
+05/14 22:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:58:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=60.9ms, total=61.0ms	[env.py: 1075]
+05/14 22:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.226, -0.735, 0.063)	[env.py: 1079]
+05/14 22:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.8 deg	[env.py: 1082]
+05/14 22:58:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.852m	[env.py: 1086]
+05/14 22:58:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:58:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:58:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:58:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:58:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:58:42 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:58:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:58:42 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 22:58:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:58:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:58:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.627s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:58:43 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.379[m] 96.551[deg]	[grasp_sample.py: 539]
+05/14 22:58:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:58:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:58:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:58:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:58:44 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:59:04 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 22:59:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 22:59:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:59:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:59:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:59:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:59:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:59:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:59:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 22:59:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 14.15s (batch: 3.14s, save: 11.02s)	[pipeline.py: 300]
+05/14 22:59:18 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.46s:
+  episode_total: mean=87.51s, total=175.03s, count=2, min=3491.9ms, max=171535.1ms
+  sensor_polling: mean=398.4ms, total=119.51s, count=300, min=370.7ms, max=621.3ms
+  save_trajectories: mean=11.02s, total=11.02s, count=1, min=11016.9ms, max=11016.9ms
+  physics_step: mean=24.5ms, total=7.36s, count=300, min=16.9ms, max=58.6ms
+  save_batch_prep: mean=3.14s, total=3.14s, count=1, min=3137.3ms, max=3137.3ms
+  task_sampling: mean=731.0ms, total=1.46s, count=2, min=430.7ms, max=1031.4ms
+  task_specific_sample: mean=727.2ms, total=1.45s, count=2, min=427.8ms, max=1026.6ms
+  scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.1ms, max=3.2ms
+  mj_forward_sync: mean=582.3us, total=1.2ms, count=2, min=0.4ms, max=0.7ms
+  policy_setup: mean=18.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:59:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:59:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:59:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:59:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:59:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:59:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:59:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:59:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:59:20 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 22:59:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:59:20 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 22:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086338m	[env.py: 870]
+05/14 22:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:59:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 168.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 157.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.26114421 -0.33125293  0.08633836] yaw=-133.8deg	[env.py: 1019]
+05/14 22:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.07316316 -1.13810648  0.08633836] yaw=147.1deg	[env.py: 1019]
+05/14 22:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.16012086 -0.05581044  0.08633836] yaw=-157.2deg	[env.py: 1019]
+05/14 22:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:59:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=182.2ms, total=182.3ms	[env.py: 1075]
+05/14 22:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.261, -0.331, 0.086)	[env.py: 1079]
+05/14 22:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.8 deg	[env.py: 1082]
+05/14 22:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m	[env.py: 1086]
+05/14 22:59:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:59:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:59:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:59:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:59:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:59:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:59:20 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:59:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:59:20 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 22:59:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:59:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:59:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.584s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:59:21 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.687[m] 98.073[deg]	[grasp_sample.py: 539]
+05/14 22:59:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:59:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:59:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:59:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:59:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:59:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:59:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:59:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:00:14 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:00:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:00:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:00:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:00:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:00:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:00:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:00:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:00:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:00:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:00:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:00:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:00:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:00:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:00:36 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 23:00:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:00:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:00:36 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 23:00:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/14 23:00:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:00:36 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.642s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:00:36 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.334[deg]	[grasp_sample.py: 539]
+05/14 23:00:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:00:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:00:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:00:40 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:00:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:00:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:00:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 23:00:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 13.63s (batch: 3.01s, save: 10.62s)	[pipeline.py: 300]
+05/14 23:00:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:00:50 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.92s:
+  episode_total: mean=90.10s, total=180.20s, count=2, min=2854.5ms, max=177341.0ms
+  sensor_polling: mean=426.8ms, total=128.03s, count=300, min=376.9ms, max=689.1ms
+  save_trajectories: mean=10.62s, total=10.62s, count=1, min=10615.5ms, max=10615.5ms
+  physics_step: mean=25.5ms, total=7.66s, count=300, min=21.5ms, max=36.2ms
+  save_batch_prep: mean=3.01s, total=3.01s, count=1, min=3011.4ms, max=3011.4ms
+  task_sampling: mean=458.6ms, total=917.1ms, count=2, min=444.6ms, max=472.5ms
+  task_specific_sample: mean=454.7ms, total=909.4ms, count=2, min=441.2ms, max=468.2ms
+  scene_randomize: mean=1.4ms, total=2.8ms, count=2, min=1.3ms, max=1.5ms
+  mj_forward_sync: mean=529.1us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=12.2us, 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 23:00:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:00:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:00:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:00:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:00:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:00:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:00:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:00:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:00:52 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 23:00:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:00:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.071m, effective arm-mount z=0.789m (base_body_z=-0.071m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.071048m	[env.py: 870]
+05/14 23:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:00:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.24246497 -0.43237063 -0.07104813] yaw=-139.4deg	[env.py: 1019]
+05/14 23:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -82.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 145.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 138.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.13801409 -1.05017774 -0.07104813] yaw=187.9deg	[env.py: 1019]
+05/14 23:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:00:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=177.6ms, total=177.6ms	[env.py: 1075]
+05/14 23:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.242, -0.432, -0.071)	[env.py: 1079]
+05/14 23:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.4 deg	[env.py: 1082]
+05/14 23:00:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
+05/14 23:00:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:00:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:00:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:00:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:00:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:00:52 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:00:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:00:52 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 23:00:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:00:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:00:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.999s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:00:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.561[m] 99.996[deg]	[grasp_sample.py: 539]
+05/14 23:00:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:00:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:00:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:00:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:00:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:01:02 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 23:01:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 23:01:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:01:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:01:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 23:01:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 15.97s (batch: 3.50s, save: 12.47s)	[pipeline.py: 300]
+05/14 23:01:19 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.48s:
+  episode_total: mean=176.81s, total=176.81s, count=1, min=176811.8ms, max=176811.8ms
+  sensor_polling: mean=421.0ms, total=126.31s, count=300, min=389.0ms, max=658.3ms
+  save_trajectories: mean=12.47s, total=12.47s, count=1, min=12465.4ms, max=12465.4ms
+  physics_step: mean=25.5ms, total=7.64s, count=300, min=21.5ms, max=35.5ms
+  save_batch_prep: mean=3.50s, total=3.50s, count=1, min=3504.0ms, max=3504.0ms
+  task_sampling: mean=479.2ms, total=479.2ms, count=1, min=479.2ms, max=479.2ms
+  task_specific_sample: mean=475.0ms, total=475.0ms, count=1, min=475.0ms, max=475.0ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=607.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=22.7us, 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 23:01:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:01:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:01:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:01:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:01:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:01:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:01:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:01:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:01:20 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 23:01:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:01:20 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 23:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.086334m	[env.py: 870]
+05/14 23:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:01:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.32999968 -0.12562204 -0.08633429] yaw=-161.4deg	[env.py: 1019]
+05/14 23:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.00497028 -1.14023598 -0.08633429] yaw=155.4deg	[env.py: 1019]
+05/14 23:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.06726207 -0.76012529 -0.08633429] yaw=-180.3deg	[env.py: 1019]
+05/14 23:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:01:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=170.9ms, total=171.0ms	[env.py: 1075]
+05/14 23:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.330, -0.126, -0.086)	[env.py: 1079]
+05/14 23:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.4 deg	[env.py: 1082]
+05/14 23:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.015m	[env.py: 1086]
+05/14 23:01:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:01:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:01:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:01:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:01:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:01:21 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:01:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:01:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:01:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:01:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:01:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.628s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:01:24 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.742[m] 120.839[deg]	[grasp_sample.py: 539]
+05/14 23:01:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:01:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:01:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:01:25 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 23:01:30 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:01:34 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:01:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:01:50 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 23:01:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 23:01:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:01:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:01:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:01:56 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 23:01:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 23:01:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:02:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:02:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 23:02:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 14.98s (batch: 2.92s, save: 12.07s)	[pipeline.py: 300]
+05/14 23:02:05 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.48s:
+  episode_total: mean=165.69s, total=165.69s, count=1, min=165691.9ms, max=165691.9ms
+  sensor_polling: mean=396.8ms, total=119.03s, count=300, min=369.8ms, max=608.2ms
+  save_trajectories: mean=12.07s, total=12.07s, count=1, min=12068.5ms, max=12068.5ms
+  physics_step: mean=24.0ms, total=7.21s, count=300, min=17.4ms, max=35.0ms
+  save_batch_prep: mean=2.92s, total=2.92s, count=1, min=2915.4ms, max=2915.4ms
+  task_sampling: mean=482.5ms, total=482.5ms, count=1, min=482.5ms, max=482.5ms
+  task_specific_sample: mean=478.7ms, total=478.7ms, count=1, min=478.7ms, max=478.7ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=465.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.7us, 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 23:02:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:02:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:02:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:02:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:02:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:02:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:02:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:02:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:02:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:02:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:02:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038214m	[env.py: 870]
+05/14 23:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:02:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.39040876 -0.38109943  0.03821372] yaw=-147.5deg	[env.py: 1019]
+05/14 23:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.18564433 -1.12612963  0.03821372] yaw=179.1deg	[env.py: 1019]
+05/14 23:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 141.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.0195039  -0.99144934  0.03821372] yaw=181.6deg	[env.py: 1019]
+05/14 23:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:02:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=284.0ms, total=284.0ms	[env.py: 1075]
+05/14 23:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.390, -0.381, 0.038)	[env.py: 1079]
+05/14 23:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.5 deg	[env.py: 1082]
+05/14 23:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m	[env.py: 1086]
+05/14 23:02:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:02:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:02:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:02:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:02:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:02:07 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:02:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:02:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:02:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:02:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:02:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.883s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:02:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.428[m] 106.732[deg]	[grasp_sample.py: 539]
+05/14 23:02:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:02:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:02:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:02:09 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 23:02:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:02:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 23:02:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 13.36s (batch: 2.94s, save: 10.42s)	[pipeline.py: 300]
+05/14 23:02:10 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.07s:
+  episode_total: mean=112.57s, total=337.72s, count=3, min=2691.4ms, max=208036.3ms
+  sensor_polling: mean=429.5ms, total=232.78s, count=542, min=385.3ms, max=688.6ms
+  physics_step: mean=25.1ms, total=13.61s, count=542, min=15.3ms, max=44.5ms
+  save_trajectories: mean=10.42s, total=10.42s, count=1, min=10418.6ms, max=10418.6ms
+  save_batch_prep: mean=2.94s, total=2.94s, count=1, min=2940.2ms, max=2940.2ms
+  task_sampling: mean=356.0ms, total=1.07s, count=3, min=290.5ms, max=409.8ms
+  task_specific_sample: mean=352.6ms, total=1.06s, count=3, min=286.9ms, max=406.0ms
+  scene_randomize: mean=1.7ms, total=5.0ms, count=3, min=1.2ms, max=2.5ms
+  mj_forward_sync: mean=453.9us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=17.5us, 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 23:02:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:02:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:02:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:02:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:02:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:02:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:02:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:02:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:02:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:02:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:02:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088155m	[env.py: 870]
+05/14 23:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:02:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.03021461 -0.69220441  0.08815455] yaw=-201.0deg	[env.py: 1019]
+05/14 23:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.13319238 -0.12502894  0.08815455] yaw=-130.9deg	[env.py: 1019]
+05/14 23:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.09546893 -1.12694292  0.08815455] yaw=148.0deg	[env.py: 1019]
+05/14 23:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:02:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.0ms, total=147.0ms	[env.py: 1075]
+05/14 23:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.030, -0.692, 0.088)	[env.py: 1079]
+05/14 23:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -201.0 deg	[env.py: 1082]
+05/14 23:02:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.111m	[env.py: 1086]
+05/14 23:02:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:02:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:02:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:02:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:02:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:02:12 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:02:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:02:12 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 23:02:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:02:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:02:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.035s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:02:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.736[m] 85.046[deg]	[grasp_sample.py: 539]
+05/14 23:02:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:02:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:02:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:02:15 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 23:02:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:02:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:02:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:02:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:02:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:02:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:03:02 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:03:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:03:23 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 23:03:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/14 23:03:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:03:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:03:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:03:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:03:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:03:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:03:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:03:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:03:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:03:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:03:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:03:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:03:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:03:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:03:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:03:36 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 23:03:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:03:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 74 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:03:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:03:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 23:03:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 13.65s (batch: 3.08s, save: 10.57s)	[pipeline.py: 300]
+05/14 23:03:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:03:37 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.43s:
+  episode_total: mean=165.45s, total=165.45s, count=1, min=165454.3ms, max=165454.3ms
+  sensor_polling: mean=395.6ms, total=118.68s, count=300, min=367.3ms, max=671.0ms
+  save_trajectories: mean=10.57s, total=10.57s, count=1, min=10571.4ms, max=10571.4ms
+  physics_step: mean=24.2ms, total=7.27s, count=300, min=17.3ms, max=36.8ms
+  save_batch_prep: mean=3.08s, total=3.08s, count=1, min=3075.2ms, max=3075.2ms
+  task_sampling: mean=431.9ms, total=431.9ms, count=1, min=431.9ms, max=431.9ms
+  task_specific_sample: mean=427.8ms, total=427.8ms, count=1, min=427.8ms, max=427.8ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=467.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:03:38 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.317s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:03:38 INFO: [Worker 0] Feasible grasp found 224 (originally 109): w/ 0.098[m] 5.927[deg]	[grasp_sample.py: 539]
+05/14 23:03:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:03:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:03:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:03:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:03:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:03:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:03:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:03:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:03:39 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 23:03:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:03:39 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 23:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.073582m	[env.py: 870]
+05/14 23:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:03:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.0173811  -0.4345631  -0.07358207] yaw=-147.2deg	[env.py: 1019]
+05/14 23:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.07773476 -0.67380971 -0.07358207] yaw=-194.7deg	[env.py: 1019]
+05/14 23:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.03210076 -0.64975271 -0.07358207] yaw=-193.0deg	[env.py: 1019]
+05/14 23:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:03:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.9ms, total=107.0ms	[env.py: 1075]
+05/14 23:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.017, -0.435, -0.074)	[env.py: 1079]
+05/14 23:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.2 deg	[env.py: 1082]
+05/14 23:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.156m	[env.py: 1086]
+05/14 23:03:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:03:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:03:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:03:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:03:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:03:39 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:03:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:03:39 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 23:03:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:03:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:03:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:03:40 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 23:03:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:03:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:03:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:03:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:03:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:03:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:03:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:03:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:03:41 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 23:03:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:03:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.011m, effective arm-mount z=0.849m (base_body_z=-0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.010986m	[env.py: 870]
+05/14 23:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:03:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.1270189  -0.98632916 -0.01098552] yaw=185.9deg	[env.py: 1019]
+05/14 23:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.08559645 -0.61499008 -0.01098552] yaw=-174.1deg	[env.py: 1019]
+05/14 23:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.16579079 -0.33942799 -0.01098552] yaw=-139.9deg	[env.py: 1019]
+05/14 23:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:03:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.1ms, total=106.2ms	[env.py: 1075]
+05/14 23:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.127, -0.986, -0.011)	[env.py: 1079]
+05/14 23:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 185.9 deg	[env.py: 1082]
+05/14 23:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m	[env.py: 1086]
+05/14 23:03:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:03:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:03:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:03:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:03:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.373s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:03:42 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:03:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:03:42 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:03:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:03:42 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 23:03:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:03:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:03:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.720s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:03:43 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.465[m] 70.587[deg]	[grasp_sample.py: 539]
+05/14 23:03:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:03:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:03:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:03:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:03:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:03:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:03:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:03:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:03:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:03:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:03:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:03:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022355m	[env.py: 870]
+05/14 23:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:03:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:03:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:03:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 167.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 131.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=146.4ms, total=146.5ms	[env.py: 1105]
+05/14 23:03:43 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 302]
+05/14 23:03:43 ERROR: [Worker 0] Worker 0 house 1 episode 12 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/14 23:03:43 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 23:03:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:03:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:03:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:03:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:03:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:03:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:03:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:03:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:03:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:03:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:03:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:03:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094233m	[env.py: 870]
+05/14 23:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:03:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 145.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 115.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.17155386 -0.94244942  0.09423268] yaw=164.1deg	[env.py: 1019]
+05/14 23:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:03:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=254.7ms, total=254.7ms	[env.py: 1075]
+05/14 23:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.172, -0.942, 0.094)	[env.py: 1079]
+05/14 23:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.1 deg	[env.py: 1082]
+05/14 23:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m	[env.py: 1086]
+05/14 23:03:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:03:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:03:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:03:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:03:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:03:45 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:03:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:03:45 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 23:03:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:03:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:03:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.595s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:03:46 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.476[m] 51.983[deg]	[grasp_sample.py: 539]
+05/14 23:03:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:03:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:03:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:04:12 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/14 23:04:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:04:12 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 23:04:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:04:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 68 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:04:13 INFO: [Worker 0] Feasibility-checked 68 grasps in 0.664s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:04:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.040[m] 4.696[deg]	[grasp_sample.py: 539]
+05/14 23:04:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:04:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:04:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:04:17 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:04:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:04:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:04:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:04:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:04:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:04:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:04:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:04:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:04:37 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 23:04:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 23:04:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:04:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:04:39 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/14 23:04:39 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=False episode_total=0.40s:
+  episode_total: mean=147.28s, total=147.28s, count=1, min=147279.0ms, max=147279.0ms
+  sensor_polling: mean=422.2ms, total=126.67s, count=300, min=389.6ms, max=695.0ms
+  physics_step: mean=24.0ms, total=7.21s, count=300, min=17.5ms, max=37.8ms
+  task_sampling: mean=395.4ms, total=395.4ms, count=1, min=395.4ms, max=395.4ms
+  task_specific_sample: mean=391.3ms, total=391.3ms, count=1, min=391.3ms, max=391.3ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=449.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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 23:04:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:04:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:04:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:04:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:04:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:04:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:04:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:04:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:04:40 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 23:04:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:04:40 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 23:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020643m	[env.py: 870]
+05/14 23:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:04:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.2592367  -0.22609979 -0.02064343] yaw=-148.1deg	[env.py: 1019]
+05/14 23:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.36302974 -1.19390205 -0.02064343] yaw=126.8deg	[env.py: 1019]
+05/14 23:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.03275374 -1.06713785 -0.02064343] yaw=177.0deg	[env.py: 1019]
+05/14 23:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:04:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=73.6ms, total=73.7ms	[env.py: 1075]
+05/14 23:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.259, -0.226, -0.021)	[env.py: 1079]
+05/14 23:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.1 deg	[env.py: 1082]
+05/14 23:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m	[env.py: 1086]
+05/14 23:04:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:04:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:04:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:04:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:04:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:04:40 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:04:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:04:41 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 23:04:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:04:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:04:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.260s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:04:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.764[m] 86.010[deg]	[grasp_sample.py: 539]
+05/14 23:04:44 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 23:04:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:04:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:04:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:04:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:04:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:04:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:04:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:04:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:04:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:04:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:04:45 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 23:04:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:04:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:04:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085652m	[env.py: 870]
+05/14 23:04:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:04:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:04:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.49646916  0.04607538  0.08565165] yaw=-124.7deg	[env.py: 1019]
+05/14 23:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.22167858 -1.06874378  0.08565165] yaw=171.9deg	[env.py: 1019]
+05/14 23:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.1706445  -1.14653117  0.08565165] yaw=151.3deg	[env.py: 1019]
+05/14 23:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:04:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=124.5ms, total=124.6ms	[env.py: 1075]
+05/14 23:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.496, 0.046, 0.086)	[env.py: 1079]
+05/14 23:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.7 deg	[env.py: 1082]
+05/14 23:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m	[env.py: 1086]
+05/14 23:04:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:04:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:04:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:04:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:04:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:04:46 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:04:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:04:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:04:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:04:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:04:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.244s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:04:48 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:04:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:04:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:04:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:04:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:04:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:04:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:04:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:04:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:04:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:04:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:04:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.071m, effective arm-mount z=0.789m (base_body_z=-0.071m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.070557m	[env.py: 870]
+05/14 23:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:04:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 159.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.31791148  0.03152559 -0.07055747] yaw=-121.6deg	[env.py: 1019]
+05/14 23:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:04:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=167.4ms, total=167.5ms	[env.py: 1075]
+05/14 23:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.318, 0.032, -0.071)	[env.py: 1079]
+05/14 23:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -121.6 deg	[env.py: 1082]
+05/14 23:04:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.136m	[env.py: 1086]
+05/14 23:04:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:04:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:04:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:04:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:04:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:04:50 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:04:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:04:50 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 23:04:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:04:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:04:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:04:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 23:04:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 14.37s (batch: 2.99s, save: 11.38s)	[pipeline.py: 300]
+05/14 23:04:52 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.59s:
+  episode_total: mean=164.91s, total=164.91s, count=1, min=164914.4ms, max=164914.4ms
+  sensor_polling: mean=395.5ms, total=118.64s, count=300, min=372.8ms, max=617.6ms
+  save_trajectories: mean=11.38s, total=11.38s, count=1, min=11382.2ms, max=11382.2ms
+  physics_step: mean=24.4ms, total=7.33s, count=300, min=21.4ms, max=59.5ms
+  save_batch_prep: mean=2.99s, total=2.99s, count=1, min=2988.0ms, max=2988.0ms
+  task_sampling: mean=587.2ms, total=587.2ms, count=1, min=587.2ms, max=587.2ms
+  task_specific_sample: mean=583.4ms, total=583.4ms, count=1, min=583.4ms, max=583.4ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=620.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  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 23:04:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.366s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:04:52 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:04:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:04:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:04:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:04:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:04:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:04:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:04:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:04:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:04:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:04:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:04:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013182m	[env.py: 870]
+05/14 23:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:04:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.07307409 -0.66801814 -0.01318234] yaw=-194.0deg	[env.py: 1019]
+05/14 23:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 132.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 148.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.12756251 -1.13587218 -0.01318234] yaw=186.1deg	[env.py: 1019]
+05/14 23:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:04:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=158.6ms, total=158.6ms	[env.py: 1075]
+05/14 23:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.073, -0.668, -0.013)	[env.py: 1079]
+05/14 23:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -194.0 deg	[env.py: 1082]
+05/14 23:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m	[env.py: 1086]
+05/14 23:04:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:04:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:04:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:04:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:04:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:04:54 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:04:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:04:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:04:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:04:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:04:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:04:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:04:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:04:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:04:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:04:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:04:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:04:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:04:54 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 23:04:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:04:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.012526m	[env.py: 870]
+05/14 23:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:04:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.15117512 -0.06510943 -0.01252559] yaw=-164.9deg	[env.py: 1019]
+05/14 23:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -165.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.10679048 -0.58564358 -0.01252559] yaw=-158.6deg	[env.py: 1019]
+05/14 23:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.18286108 -1.04716633 -0.01252559] yaw=170.0deg	[env.py: 1019]
+05/14 23:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:04:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.4ms, total=117.5ms	[env.py: 1075]
+05/14 23:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.151, -0.065, -0.013)	[env.py: 1079]
+05/14 23:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.9 deg	[env.py: 1082]
+05/14 23:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.190m	[env.py: 1086]
+05/14 23:04:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:04:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:04:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:04:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:04:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:04:54 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:04:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:04:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:04:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:04:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:04:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.207s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:04:55 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.605[m] 59.479[deg]	[grasp_sample.py: 539]
+05/14 23:04:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:04:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:04:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:04:56 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 23:04:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.100s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:04:56 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:04:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:04:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:04:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:04:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:04:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:04:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:04:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:04:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:04:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:04:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:04:58 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 23:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005188m	[env.py: 870]
+05/14 23:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:04:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 110.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 145.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 99.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.44475212 -0.09523338  0.00518793] yaw=-118.6deg	[env.py: 1019]
+05/14 23:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:04:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=168.9ms, total=169.0ms	[env.py: 1075]
+05/14 23:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.445, -0.095, 0.005)	[env.py: 1079]
+05/14 23:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -118.6 deg	[env.py: 1082]
+05/14 23:04:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m	[env.py: 1086]
+05/14 23:04:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:04:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:04:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:04:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:04:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:04:58 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:04:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:04:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:04:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:04:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:05:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.051s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:05:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.617[m] 117.196[deg]	[grasp_sample.py: 539]
+05/14 23:05:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:05:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:05:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:05:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:05:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:05:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:05:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:05:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:05:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:05:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:05:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:05:55 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 23:05:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:05:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:05:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:05:57 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.279s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:05:57 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.031[m] 0.316[deg]	[grasp_sample.py: 539]
+05/14 23:05:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:05:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:05:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:05:58 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:06:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:06:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:06:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:06:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:06:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:06:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:06:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 12.810s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:06:07 INFO: [Worker 0] Feasible grasp found 105 (originally 105): w/ 0.255[m] 6.610[deg]	[grasp_sample.py: 539]
+05/14 23:06:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:06:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:06:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:06:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:06:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:06:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:06:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:06:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:06:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:06:12 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 23:06:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:06:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:06:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:06:13 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.330s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:06:13 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.031[m] 0.301[deg]	[grasp_sample.py: 539]
+05/14 23:06:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:06:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:06:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:06:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:06:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:06:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:06:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:06:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:06:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:06:19 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 23:06:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 23:06:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:06:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:06:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:06:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:06:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:06:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:06:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:06:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:06:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:06:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:06:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:06:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:06:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:06:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:06:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:06:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:06:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:06:27 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 23:06:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:06:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:06:29 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.305s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:06:29 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.031[m] 0.301[deg]	[grasp_sample.py: 539]
+05/14 23:06:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:06:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:06:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:06:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:06:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:06:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 23:06:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 13.55s (batch: 2.95s, save: 10.61s)	[pipeline.py: 300]
+05/14 23:06:33 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.84s:
+  episode_total: mean=155.46s, total=310.92s, count=2, min=139562.5ms, max=171359.2ms
+  sensor_polling: mean=407.1ms, total=234.05s, count=575, min=372.2ms, max=643.9ms
+  physics_step: mean=24.8ms, total=14.27s, count=575, min=16.8ms, max=37.9ms
+  save_trajectories: mean=10.61s, total=10.61s, count=1, min=10606.3ms, max=10606.3ms
+  save_batch_prep: mean=2.95s, total=2.95s, count=1, min=2948.3ms, max=2948.3ms
+  task_sampling: mean=422.4ms, total=844.8ms, count=2, min=378.3ms, max=466.5ms
+  task_specific_sample: mean=418.6ms, total=837.2ms, count=2, min=375.2ms, max=461.9ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.3ms, max=3.1ms
+  mj_forward_sync: mean=544.1us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=15.9us, 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 23:06:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:06:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:06:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:06:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:06:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:06:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:06:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:06:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:06:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:06:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:06:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:06:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.069m, effective arm-mount z=0.791m (base_body_z=-0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.068520m	[env.py: 870]
+05/14 23:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:06:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 110.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.22696787 -0.41529979 -0.06851984] yaw=-169.6deg	[env.py: 1019]
+05/14 23:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.19472606 -1.14378925 -0.06851984] yaw=141.5deg	[env.py: 1019]
+05/14 23:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.09670127 -0.73888828 -0.06851984] yaw=-195.8deg	[env.py: 1019]
+05/14 23:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:06:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=141.1ms, total=141.1ms	[env.py: 1075]
+05/14 23:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.227, -0.415, -0.069)	[env.py: 1079]
+05/14 23:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.6 deg	[env.py: 1082]
+05/14 23:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m	[env.py: 1086]
+05/14 23:06:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:06:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:06:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:06:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:06:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:06:34 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:06:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:06:35 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 23:06:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:06:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:06:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:06:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:06:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 13.646s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:06:37 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.293[m] 7.000[deg]	[grasp_sample.py: 539]
+05/14 23:06:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.333s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:06:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.494[m] 78.317[deg]	[grasp_sample.py: 539]
+05/14 23:06:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:06:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:06:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:06:38 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 23:06:38 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 23:06:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:06:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:06:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:06:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:06:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:06:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:06:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:06:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:06:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:06:40 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 23:06:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:06:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094945m	[env.py: 870]
+05/14 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:06:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 129.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.12122573 -0.57601722  0.09494454] yaw=-186.3deg	[env.py: 1019]
+05/14 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.15818068 -0.48651696  0.09494454] yaw=-145.4deg	[env.py: 1019]
+05/14 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.37282646 -0.40690393  0.09494454] yaw=-166.3deg	[env.py: 1019]
+05/14 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:06:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=358.7ms, total=358.8ms	[env.py: 1075]
+05/14 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.121, -0.576, 0.095)	[env.py: 1079]
+05/14 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -186.3 deg	[env.py: 1082]
+05/14 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
+05/14 23:06:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:06:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:06:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:06:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:06:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:06:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:06:40 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:06:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:06:40 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 23:06:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:06:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:06:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.905s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:06:41 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.717[m] 110.946[deg]	[grasp_sample.py: 539]
+05/14 23:06:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:06:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:06:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:06:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:06:42 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 23:06:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:06:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:06:43 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/14 23:06:44 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:06:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:06:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:06:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:07:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:07:02 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 23:07:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/14 23:07:02 INFO: [Worker 0] Preparing episode data: 263 timesteps	[save_utils.py: 278]
+05/14 23:07:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:07:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:07:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:07:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:07:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:07:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:07:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:07:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:07:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:07:10 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.286s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:07:10 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:07:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:07:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:07:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:07:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:07:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:07:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:07:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:07:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:07:12 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 23:07:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:07:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.040m, effective arm-mount z=0.820m (base_body_z=-0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040415m	[env.py: 870]
+05/14 23:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:07:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -170.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 138.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.0674777  -0.638305   -0.04041476] yaw=-180.9deg	[env.py: 1019]
+05/14 23:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:07:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=184.7ms, total=184.8ms	[env.py: 1075]
+05/14 23:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.067, -0.638, -0.040)	[env.py: 1079]
+05/14 23:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.9 deg	[env.py: 1082]
+05/14 23:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m	[env.py: 1086]
+05/14 23:07:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:07:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:07:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:07:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:07:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:07:12 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:07:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:07:12 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 23:07:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:07:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:07:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.172s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:07:15 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.470[m] 80.562[deg]	[grasp_sample.py: 539]
+05/14 23:07:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:07:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 23:07:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 12.33s (batch: 2.93s, save: 9.40s)	[pipeline.py: 300]
+05/14 23:07:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:07:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:07:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:07:15 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.90s:
+  episode_total: mean=71.24s, total=213.73s, count=3, min=156.0ms, max=210660.0ms
+  sensor_polling: mean=420.5ms, total=110.18s, count=262, min=381.1ms, max=655.8ms
+  save_trajectories: mean=9.40s, total=9.40s, count=1, min=9399.9ms, max=9399.9ms
+  physics_step: mean=24.5ms, total=6.41s, count=262, min=14.8ms, max=34.3ms
+  save_batch_prep: mean=2.93s, total=2.93s, count=1, min=2928.7ms, max=2928.7ms
+  task_specific_sample: mean=348.4ms, total=1.05s, count=3, min=151.9ms, max=523.6ms
+  task_sampling: mean=449.9ms, total=899.7ms, count=2, min=373.8ms, max=525.9ms
+  task_sampling_failed: mean=156.0ms, total=156.0ms, count=1, min=156.0ms, max=156.0ms
+  scene_randomize: mean=1.7ms, total=5.1ms, count=3, min=1.1ms, max=2.8ms
+  mj_forward_sync: mean=480.0us, total=1.4ms, count=3, min=0.5ms, max=0.5ms
+  policy_setup: mean=14.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:07:16 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 23:07:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:07:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:07:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:07:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:07:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:07:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:07:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:07:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:07:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:07:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:07:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016654m	[env.py: 870]
+05/14 23:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:07:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.35378283 -0.0187183   0.01665433] yaw=-106.1deg	[env.py: 1019]
+05/14 23:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.04713187 -0.85824462  0.01665433] yaw=201.9deg	[env.py: 1019]
+05/14 23:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.00991544 -0.4129389   0.01665433] yaw=-173.0deg	[env.py: 1019]
+05/14 23:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:07:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=87.9ms, total=87.9ms	[env.py: 1075]
+05/14 23:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.354, -0.019, 0.017)	[env.py: 1079]
+05/14 23:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -106.1 deg	[env.py: 1082]
+05/14 23:07:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m	[env.py: 1086]
+05/14 23:07:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:07:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:07:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:07:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:07:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:07:17 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:07:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:07:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:07:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:07:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:07:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:07:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.214s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:07:19 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:07:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:07:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:07:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:07:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:07:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:07:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:07:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:07:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:07:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:07:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:07:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.023m, effective arm-mount z=0.837m (base_body_z=-0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.022681m	[env.py: 870]
+05/14 23:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:07:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.14323471 -0.50180049 -0.02268119] yaw=-170.0deg	[env.py: 1019]
+05/14 23:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 124.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -78.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.45217911  0.03643022 -0.02268119] yaw=-105.1deg	[env.py: 1019]
+05/14 23:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:07:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=176.7ms, total=176.7ms	[env.py: 1075]
+05/14 23:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.143, -0.502, -0.023)	[env.py: 1079]
+05/14 23:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.0 deg	[env.py: 1082]
+05/14 23:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
+05/14 23:07:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:07:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:07:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:07:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:07:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:07:21 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:07:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:07:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:07:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:07:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:07:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.209s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:07:23 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.634[m] 84.718[deg]	[grasp_sample.py: 539]
+05/14 23:07:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:07:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:07:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:07:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:07:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:07:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:07:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:07:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:07:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:07:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:08:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:08:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:08:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:08:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:08:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:08:44 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:08:52 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:09:07 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 23:09:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 23:09:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:09:12 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 23:09:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 23:09:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:09:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:09:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 23:09:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 13.99s (batch: 3.26s, save: 10.73s)	[pipeline.py: 300]
+05/14 23:09:21 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.39s:
+  episode_total: mean=167.26s, total=167.26s, count=1, min=167255.9ms, max=167255.9ms
+  sensor_polling: mean=391.8ms, total=117.55s, count=300, min=369.6ms, max=718.8ms
+  save_trajectories: mean=10.73s, total=10.73s, count=1, min=10733.6ms, max=10733.6ms
+  physics_step: mean=23.5ms, total=7.04s, count=300, min=16.8ms, max=30.6ms
+  save_batch_prep: mean=3.26s, total=3.26s, count=1, min=3258.0ms, max=3258.0ms
+  task_sampling: mean=391.5ms, total=391.5ms, count=1, min=391.5ms, max=391.5ms
+  task_specific_sample: mean=387.8ms, total=387.8ms, count=1, min=387.8ms, max=387.8ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=457.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:09:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:09:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:09:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:09:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:09:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:09:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:09:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:09:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:09:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059211m	[env.py: 870]
+05/14 23:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:09:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 163.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -169.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.14910687 -0.82475898  0.05921115] yaw=184.4deg	[env.py: 1019]
+05/14 23:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.03194412 -1.38258191  0.05921115] yaw=124.5deg	[env.py: 1019]
+05/14 23:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.06013541 -0.62319446  0.05921115] yaw=-172.2deg	[env.py: 1019]
+05/14 23:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:09:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=141.7ms, total=141.8ms	[env.py: 1075]
+05/14 23:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.149, -0.825, 0.059)	[env.py: 1079]
+05/14 23:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 184.4 deg	[env.py: 1082]
+05/14 23:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m	[env.py: 1086]
+05/14 23:09:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:09:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:09:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:09:23 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:09:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:09:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:09:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:09:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:09:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.718s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:09:24 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.503[m] 79.785[deg]	[grasp_sample.py: 539]
+05/14 23:09:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:09:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:09:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:09:25 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 23:09:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:09:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 23:09:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 13.77s (batch: 2.98s, save: 10.79s)	[pipeline.py: 300]
+05/14 23:09:27 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.05s:
+  episode_total: mean=135.98s, total=271.97s, count=2, min=105085.3ms, max=166883.3ms
+  sensor_polling: mean=404.9ms, total=169.25s, count=418, min=370.8ms, max=629.5ms
+  save_trajectories: mean=10.79s, total=10.79s, count=1, min=10789.8ms, max=10789.8ms
+  physics_step: mean=24.7ms, total=10.31s, count=418, min=17.8ms, max=39.2ms
+  save_batch_prep: mean=2.98s, total=2.98s, count=1, min=2980.0ms, max=2980.0ms
+  task_sampling: mean=525.3ms, total=1.05s, count=2, min=415.5ms, max=635.2ms
+  task_specific_sample: mean=522.2ms, total=1.04s, count=2, min=412.3ms, max=632.0ms
+  scene_randomize: mean=1.6ms, total=3.1ms, count=2, min=1.2ms, max=1.9ms
+  mj_forward_sync: mean=449.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=16.1us, 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 23:09:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:09:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:09:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:09:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:09:28 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 23:09:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:09:28 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 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005182m	[env.py: 870]
+05/14 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:09:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.29180487 -0.5183526   0.00518249] yaw=-159.4deg	[env.py: 1019]
+05/14 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 134.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -78.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.22141814 -1.09109525  0.00518249] yaw=183.1deg	[env.py: 1019]
+05/14 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:09:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=188.9ms, total=188.9ms	[env.py: 1075]
+05/14 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.292, -0.518, 0.005)	[env.py: 1079]
+05/14 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.4 deg	[env.py: 1082]
+05/14 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.837m	[env.py: 1086]
+05/14 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:09:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:09:28 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:09:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:09:29 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 23:09:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:09:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:09:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.704s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:09:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.536[m] 108.423[deg]	[grasp_sample.py: 539]
+05/14 23:09:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:09:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:09:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:09:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:09:32 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:09:33 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:09:54 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 23:09:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 23:09:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:09:55 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 23:09:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/14 23:09:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:10:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:10:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 23:10:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 14.05s (batch: 3.58s, save: 10.47s)	[pipeline.py: 300]
+05/14 23:10:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:10:08 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=2.31s:
+  episode_total: mean=53.51s, total=321.08s, count=6, min=2620.4ms, max=176181.2ms
+  sensor_polling: mean=418.3ms, total=235.09s, count=562, min=367.6ms, max=758.4ms
+  physics_step: mean=24.0ms, total=13.47s, count=562, min=16.8ms, max=44.3ms
+  save_trajectories: mean=10.47s, total=10.47s, count=1, min=10465.9ms, max=10465.9ms
+  save_batch_prep: mean=3.58s, total=3.58s, count=1, min=3580.6ms, max=3580.6ms
+  task_sampling: mean=384.8ms, total=2.31s, count=6, min=319.0ms, max=436.7ms
+  task_specific_sample: mean=381.8ms, total=2.29s, count=6, min=315.6ms, max=433.5ms
+  scene_randomize: mean=1.3ms, total=7.9ms, count=6, min=1.1ms, max=1.9ms
+  mj_forward_sync: mean=451.3us, total=2.7ms, count=6, min=0.4ms, max=0.5ms
+  policy_setup: mean=14.2us, total=0.1ms, count=6, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:10:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:10:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 23:10:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 13.94s (batch: 3.15s, save: 10.79s)	[pipeline.py: 300]
+05/14 23:10:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:10:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:10:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:10:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:10:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:10:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:10:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:10:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:10:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:10:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:10:10 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 23:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000579m	[env.py: 870]
+05/14 23:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:10:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 159.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -151.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 155.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 145.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-7.62195259e-02 -8.74086433e-01  5.78862827e-04] yaw=201.0deg	[env.py: 1019]
+05/14 23:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.42665008 -0.33986154  0.00057886] yaw=-144.9deg	[env.py: 1019]
+05/14 23:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:10:10 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.74s:
+  episode_total: mean=85.90s, total=171.80s, count=2, min=2713.3ms, max=169088.1ms
+  sensor_polling: mean=400.2ms, total=120.06s, count=300, min=373.9ms, max=590.7ms
+  save_trajectories: mean=10.79s, total=10.79s, count=1, min=10791.6ms, max=10791.6ms
+  physics_step: mean=24.5ms, total=7.35s, count=300, min=17.1ms, max=38.3ms
+  save_batch_prep: mean=3.15s, total=3.15s, count=1, min=3147.4ms, max=3147.4ms
+  task_sampling: mean=369.8ms, total=739.5ms, count=2, min=335.6ms, max=404.0ms
+  task_specific_sample: mean=366.3ms, total=732.6ms, count=2, min=331.6ms, max=401.0ms
+  scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.1ms, max=2.6ms
+  mj_forward_sync: mean=464.0us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=12.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:10:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=170.3ms, total=170.3ms	[env.py: 1075]
+05/14 23:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.076, -0.874, 0.001)	[env.py: 1079]
+05/14 23:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 201.0 deg	[env.py: 1082]
+05/14 23:10:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.000m	[env.py: 1086]
+05/14 23:10:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:10:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:10:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:10:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:10:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:10:10 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:10:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:10:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:10:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:10:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:10:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:10:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:10:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:10:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:10:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:10:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:10:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:10:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:10:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.006m, effective arm-mount z=0.854m (base_body_z=-0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.006051m	[env.py: 870]
+05/14 23:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:10:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:10:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.028s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:10:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.656[m] 71.692[deg]	[grasp_sample.py: 539]
+05/14 23:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.23612525 -0.602646   -0.00605075] yaw=-178.5deg	[env.py: 1019]
+05/14 23:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.31592293 -1.21080832 -0.00605075] yaw=124.6deg	[env.py: 1019]
+05/14 23:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:10:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 121.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.29859279 -0.26212538 -0.00605075] yaw=-162.3deg	[env.py: 1019]
+05/14 23:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:10:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=102.3ms, total=102.4ms	[env.py: 1075]
+05/14 23:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.236, -0.603, -0.006)	[env.py: 1079]
+05/14 23:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.5 deg	[env.py: 1082]
+05/14 23:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
+05/14 23:10:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:10:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:10:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:10:11 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:10:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:10:12 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 23:10:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:10:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:10:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:10:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:10:12 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 23:10:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.997s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:10:13 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.688[m] 114.244[deg]	[grasp_sample.py: 539]
+05/14 23:10:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:10:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:10:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:10:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:10:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:10:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:10:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:10:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:10:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:11:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:11:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:11:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:11:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:11:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:11:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:11:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:11:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:11:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:11:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:11:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:11:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:11:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:11:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:11:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:11:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:11:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:11:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:11:38 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:11:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:11:38 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.586s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:11:38 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.032[m] 0.429[deg]	[grasp_sample.py: 539]
+05/14 23:11:40 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 23:11:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:11:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:11:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:11:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:11:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:11:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:11:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:11:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:11:42 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 23:11:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:11:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.076m, effective arm-mount z=0.784m (base_body_z=-0.076m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.076478m	[env.py: 870]
+05/14 23:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:11:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.14764952 -0.81797845 -0.07647807] yaw=199.0deg	[env.py: 1019]
+05/14 23:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:11:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=186.5ms, total=186.6ms	[env.py: 1075]
+05/14 23:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.148, -0.818, -0.076)	[env.py: 1079]
+05/14 23:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 199.0 deg	[env.py: 1082]
+05/14 23:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.927m	[env.py: 1086]
+05/14 23:11:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:11:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:11:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:11:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:11:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:11:42 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:11:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:11:42 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 23:11:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:11:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:11:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.182s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:11:44 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.598[m] 106.119[deg]	[grasp_sample.py: 539]
+05/14 23:11:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:11:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:11:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:11:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:11:59 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 23:11:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 23:11:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:12:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:12:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 23:12:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 13.56s (batch: 2.81s, save: 10.75s)	[pipeline.py: 300]
+05/14 23:12:13 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.48s:
+  episode_total: mean=164.91s, total=164.91s, count=1, min=164910.1ms, max=164910.1ms
+  sensor_polling: mean=396.0ms, total=118.79s, count=300, min=372.1ms, max=635.8ms
+  save_trajectories: mean=10.75s, total=10.75s, count=1, min=10752.8ms, max=10752.8ms
+  physics_step: mean=23.6ms, total=7.09s, count=300, min=17.1ms, max=34.7ms
+  save_batch_prep: mean=2.81s, total=2.81s, count=1, min=2806.3ms, max=2806.3ms
+  task_sampling: mean=478.9ms, total=478.9ms, count=1, min=478.9ms, max=478.9ms
+  task_specific_sample: mean=474.6ms, total=474.6ms, count=1, min=474.6ms, max=474.6ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=455.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:12:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:12:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:12:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:12:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:12:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:12:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:12:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:12:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:12:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:12:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:12:14 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 23:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.082803m	[env.py: 870]
+05/14 23:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:12:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.0677203  -0.92223497 -0.08280295] yaw=198.7deg	[env.py: 1019]
+05/14 23:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.05061549 -0.98245935 -0.08280295] yaw=159.4deg	[env.py: 1019]
+05/14 23:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.26837625 -0.95105985 -0.08280295] yaw=169.0deg	[env.py: 1019]
+05/14 23:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:12:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=274.8ms, total=274.8ms	[env.py: 1075]
+05/14 23:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.068, -0.922, -0.083)	[env.py: 1079]
+05/14 23:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 198.7 deg	[env.py: 1082]
+05/14 23:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.147m	[env.py: 1086]
+05/14 23:12:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:12:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:12:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:12:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:12:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:12:15 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:12:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:12:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:12:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:12:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:12:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.185s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:12:17 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:12:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:12:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:12:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:12:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:12:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:12:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:12:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:12:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:12:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:12:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:12:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099276m	[env.py: 870]
+05/14 23:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:12:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 156.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.02139452 -1.28937184  0.09927615] yaw=155.1deg	[env.py: 1019]
+05/14 23:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.35083447 -1.17219632  0.09927615] yaw=146.0deg	[env.py: 1019]
+05/14 23:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:12:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=238.8ms, total=238.9ms	[env.py: 1075]
+05/14 23:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.021, -1.289, 0.099)	[env.py: 1079]
+05/14 23:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.1 deg	[env.py: 1082]
+05/14 23:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.194m	[env.py: 1086]
+05/14 23:12:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:12:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:12:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:12:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:12:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:12:19 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:12:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:12:19 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 23:12:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:12:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:12:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.139s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:12:21 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:12:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:12:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:12:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:12:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:12:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:12:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:12:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:12:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:12:23 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 23:12:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:12:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007516m	[env.py: 870]
+05/14 23:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:12:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.23597899 -0.77002127  0.00751594] yaw=-186.1deg	[env.py: 1019]
+05/14 23:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 137.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 121.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.17018042 -0.34904488  0.00751594] yaw=-154.0deg	[env.py: 1019]
+05/14 23:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:12:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=205.0ms, total=205.0ms	[env.py: 1075]
+05/14 23:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.236, -0.770, 0.008)	[env.py: 1079]
+05/14 23:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -186.1 deg	[env.py: 1082]
+05/14 23:12:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m	[env.py: 1086]
+05/14 23:12:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:12:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:12:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:12:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:12:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:12:23 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:12:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:12:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:12:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:12:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:12:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.685s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:12:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.523[m] 108.581[deg]	[grasp_sample.py: 539]
+05/14 23:12:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:12:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:12:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:12:25 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 23:12:26 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:12:28 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:12:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:12:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:12:50 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 23:12:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/14 23:12:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:12:51 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 23:12:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 23:12:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:12:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:13:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:13:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 23:13:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 13.66s (batch: 3.27s, save: 10.38s)	[pipeline.py: 300]
+05/14 23:13:04 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.36s:
+  episode_total: mean=173.05s, total=173.05s, count=1, min=173049.3ms, max=173049.3ms
+  sensor_polling: mean=411.7ms, total=123.50s, count=300, min=383.6ms, max=711.4ms
+  save_trajectories: mean=10.38s, total=10.38s, count=1, min=10380.6ms, max=10380.6ms
+  physics_step: mean=25.3ms, total=7.59s, count=300, min=17.0ms, max=68.1ms
+  save_batch_prep: mean=3.27s, total=3.27s, count=1, min=3274.8ms, max=3274.8ms
+  task_sampling: mean=361.7ms, total=361.7ms, count=1, min=361.7ms, max=361.7ms
+  task_specific_sample: mean=356.8ms, total=356.8ms, count=1, min=356.8ms, max=356.8ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=659.2us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:13:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:13:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 23:13:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 13.48s (batch: 3.15s, save: 10.33s)	[pipeline.py: 300]
+05/14 23:13:05 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.46s:
+  episode_total: mean=175.78s, total=175.78s, count=1, min=175778.1ms, max=175778.1ms
+  sensor_polling: mean=422.2ms, total=126.66s, count=300, min=380.5ms, max=688.4ms
+  save_trajectories: mean=10.33s, total=10.33s, count=1, min=10331.4ms, max=10331.4ms
+  physics_step: mean=23.5ms, total=7.04s, count=300, min=18.4ms, max=31.8ms
+  save_batch_prep: mean=3.15s, total=3.15s, count=1, min=3150.6ms, max=3150.6ms
+  task_sampling: mean=460.6ms, total=460.6ms, count=1, min=460.6ms, max=460.6ms
+  task_specific_sample: mean=456.8ms, total=456.8ms, count=1, min=456.8ms, max=456.8ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=455.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:13:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:13:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:13:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:13:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:13:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:13:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:13:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:13:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:13:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:13:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:13:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088512m	[env.py: 870]
+05/14 23:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:13:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.31795578 -1.1919844   0.08851242] yaw=178.3deg	[env.py: 1019]
+05/14 23:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.48197677  0.07155731  0.08851242] yaw=-139.1deg	[env.py: 1019]
+05/14 23:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.03030292 -1.25135499  0.08851242] yaw=182.5deg	[env.py: 1019]
+05/14 23:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:13:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.3ms, total=101.4ms	[env.py: 1075]
+05/14 23:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.318, -1.192, 0.089)	[env.py: 1079]
+05/14 23:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 178.3 deg	[env.py: 1082]
+05/14 23:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m	[env.py: 1086]
+05/14 23:13:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:13:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:13:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:13:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:13:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:13:06 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:13:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:13:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:13:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:13:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:13:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.847s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:13:07 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.461[m] 54.677[deg]	[grasp_sample.py: 539]
+05/14 23:13:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:13:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:13:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:13:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:13:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:13:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:13:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:13:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:13:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:13:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:13:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.088m, effective arm-mount z=0.772m (base_body_z=-0.088m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.088332m	[env.py: 870]
+05/14 23:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:13:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:13:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.08673171 -0.57156577 -0.08833217] yaw=-171.2deg	[env.py: 1019]
+05/14 23:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.49035911  0.02190078 -0.08833217] yaw=-124.4deg	[env.py: 1019]
+05/14 23:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 119.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.51183903  0.05276068 -0.08833217] yaw=-128.5deg	[env.py: 1019]
+05/14 23:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:13:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=292.4ms, total=292.5ms	[env.py: 1075]
+05/14 23:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.087, -0.572, -0.088)	[env.py: 1079]
+05/14 23:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.2 deg	[env.py: 1082]
+05/14 23:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m	[env.py: 1086]
+05/14 23:13:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:13:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:13:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:13:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:13:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:13:07 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:13:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:13:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:13:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:13:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:13:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:13:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:13:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.479s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:13:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.623[m] 100.333[deg]	[grasp_sample.py: 539]
+05/14 23:13:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:13:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:13:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:13:11 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 23:13:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:13:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:13:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:13:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:13:55 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:13:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:14:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:14:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:14:16 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 23:14:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 23:14:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:14:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:14:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:14:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:14:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 23:14:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 14.12s (batch: 3.52s, save: 10.60s)	[pipeline.py: 300]
+05/14 23:14:30 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.89s:
+  episode_total: mean=153.04s, total=306.09s, count=2, min=137331.9ms, max=168755.4ms
+  sensor_polling: mean=409.8ms, total=227.84s, count=556, min=370.2ms, max=861.9ms
+  physics_step: mean=24.7ms, total=13.71s, count=556, min=16.9ms, max=55.7ms
+  save_trajectories: mean=10.60s, total=10.60s, count=1, min=10599.9ms, max=10599.9ms
+  save_batch_prep: mean=3.52s, total=3.52s, count=1, min=3515.9ms, max=3515.9ms
+  task_sampling: mean=442.8ms, total=885.6ms, count=2, min=400.6ms, max=485.0ms
+  task_specific_sample: mean=438.7ms, total=877.3ms, count=2, min=396.4ms, max=480.9ms
+  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.8ms, max=2.9ms
+  mj_forward_sync: mean=597.5us, total=1.2ms, count=2, min=0.5ms, max=0.7ms
+  policy_setup: mean=17.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:14:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:14:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:14:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:14:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:14:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:14:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:14:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:14:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:14:32 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 23:14:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:14:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016817m	[env.py: 870]
+05/14 23:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:14:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.01796616 -0.52587326  0.01681701] yaw=-154.1deg	[env.py: 1019]
+05/14 23:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.29958381 -0.4776445   0.01681701] yaw=-143.5deg	[env.py: 1019]
+05/14 23:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 129.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.28401735 -0.54454188  0.01681701] yaw=-156.0deg	[env.py: 1019]
+05/14 23:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:14:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=85.6ms, total=85.7ms	[env.py: 1075]
+05/14 23:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.018, -0.526, 0.017)	[env.py: 1079]
+05/14 23:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.1 deg	[env.py: 1082]
+05/14 23:14:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.130m	[env.py: 1086]
+05/14 23:14:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:14:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:14:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:14:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:14:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:14:32 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:14:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:14:32 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 23:14:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:14:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:14:34 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:14:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.151s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:14:35 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:14:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:14:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:14:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:14:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:14:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:14:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:14:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:14:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:14:36 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 23:14:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:14:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.000m, effective arm-mount z=0.860m (base_body_z=-0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.000088m	[env.py: 870]
+05/14 23:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:14:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-2.59081804e-02 -5.08261940e-01 -8.80881876e-05] yaw=-183.1deg	[env.py: 1019]
+05/14 23:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.86815023e-01 -6.53721298e-01 -8.80881876e-05] yaw=-168.6deg	[env.py: 1019]
+05/14 23:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-3.38790408e-01 -9.48982412e-03 -8.80881876e-05] yaw=-134.7deg	[env.py: 1019]
+05/14 23:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:14:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=76.5ms, total=76.5ms	[env.py: 1075]
+05/14 23:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.026, -0.508, -0.000)	[env.py: 1079]
+05/14 23:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -183.1 deg	[env.py: 1082]
+05/14 23:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.093m	[env.py: 1086]
+05/14 23:14:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:14:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:14:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:14:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:14:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:14:37 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:14:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:14:37 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 23:14:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:14:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:14:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.201s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:14:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.684[m] 104.662[deg]	[grasp_sample.py: 539]
+05/14 23:14:40 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 23:14:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:14:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:14:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:14:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:14:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:14:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:14:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:14:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:14:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:14:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:14:42 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 23:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003943m	[env.py: 870]
+05/14 23:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:14:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.08911298 -0.70415449 -0.00394342] yaw=-145.7deg	[env.py: 1019]
+05/14 23:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.18670229 -0.70489101 -0.00394342] yaw=-190.2deg	[env.py: 1019]
+05/14 23:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.20964046 -0.01791891 -0.00394342] yaw=-150.9deg	[env.py: 1019]
+05/14 23:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:14:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=95.8ms, total=95.8ms	[env.py: 1075]
+05/14 23:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.089, -0.704, -0.004)	[env.py: 1079]
+05/14 23:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.7 deg	[env.py: 1082]
+05/14 23:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m	[env.py: 1086]
+05/14 23:14:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:14:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:14:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:14:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:14:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:14:42 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:14:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:14:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:14:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:14:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:14:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:14:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.917s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:14:47 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.750[m] 89.866[deg]	[grasp_sample.py: 539]
+05/14 23:14:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:14:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:14:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:14:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:14:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:14:54 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 23:14:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 23:14:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:15:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:15:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 23:15:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 13.54s (batch: 2.92s, save: 10.61s)	[pipeline.py: 300]
+05/14 23:15:08 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.48s:
+  episode_total: mean=56.97s, total=170.90s, count=3, min=2778.3ms, max=165194.7ms
+  sensor_polling: mean=399.7ms, total=119.91s, count=300, min=371.7ms, max=729.1ms
+  save_trajectories: mean=10.61s, total=10.61s, count=1, min=10612.1ms, max=10612.1ms
+  physics_step: mean=23.4ms, total=7.02s, count=300, min=17.0ms, max=35.5ms
+  save_batch_prep: mean=2.92s, total=2.92s, count=1, min=2924.7ms, max=2924.7ms
+  task_sampling: mean=494.2ms, total=1.48s, count=3, min=447.0ms, max=554.5ms
+  task_specific_sample: mean=491.1ms, total=1.47s, count=3, min=444.5ms, max=550.6ms
+  scene_randomize: mean=1.6ms, total=4.8ms, count=3, min=1.1ms, max=2.6ms
+  mj_forward_sync: mean=456.6us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=16.7us, 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 23:15:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:15:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:15:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:15:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:15:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:15:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:15:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:15:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:15:09 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 23:15:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:15:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069574m	[env.py: 870]
+05/14 23:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:15:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 128.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -179.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 130.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.33334201 -1.20396888  0.06957403] yaw=150.4deg	[env.py: 1019]
+05/14 23:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.25773852 -1.13007684  0.06957403] yaw=177.7deg	[env.py: 1019]
+05/14 23:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.16743771 -0.19593687  0.06957403] yaw=-173.5deg	[env.py: 1019]
+05/14 23:15:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:15:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=174.8ms, total=174.8ms	[env.py: 1075]
+05/14 23:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.333, -1.204, 0.070)	[env.py: 1079]
+05/14 23:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.4 deg	[env.py: 1082]
+05/14 23:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.836m	[env.py: 1086]
+05/14 23:15:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:15:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:15:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:15:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:15:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:15:10 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:15:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:15:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:15:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:15:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:15:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.030s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:15:11 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.364[m] 93.881[deg]	[grasp_sample.py: 539]
+05/14 23:15:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:15:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:15:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:15:12 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 23:15:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:15:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:15:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:15:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:15:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:15:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:15:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:15:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:15:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:15:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:15:26 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 23:15:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:15:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:15:27 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.747s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:15:27 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.033[m] 2.755[deg]	[grasp_sample.py: 539]
+05/14 23:15:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:15:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:15:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:15:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:15:32 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:15:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:15:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:15:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:15:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:15:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:15:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:15:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:15:53 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 23:15:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 23:15:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:15:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:15:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:15:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:15:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:15:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:16:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:16:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:16:02 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:16:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:16:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:16:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 23:16:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 14.12s (batch: 3.26s, save: 10.85s)	[pipeline.py: 300]
+05/14 23:16:08 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.56s:
+  episode_total: mean=181.02s, total=181.02s, count=1, min=181022.2ms, max=181022.2ms
+  sensor_polling: mean=437.4ms, total=131.23s, count=300, min=394.2ms, max=767.6ms
+  save_trajectories: mean=10.85s, total=10.85s, count=1, min=10851.9ms, max=10851.9ms
+  physics_step: mean=25.2ms, total=7.57s, count=300, min=17.1ms, max=61.2ms
+  save_batch_prep: mean=3.26s, total=3.26s, count=1, min=3264.8ms, max=3264.8ms
+  task_sampling: mean=559.3ms, total=559.3ms, count=1, min=559.3ms, max=559.3ms
+  task_specific_sample: mean=555.5ms, total=555.5ms, count=1, min=555.5ms, max=555.5ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=444.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.5us, 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 23:16:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:16:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:16:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:16:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:16:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:16:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:16:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:16:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:16:09 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 23:16:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:16:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.027m, effective arm-mount z=0.833m (base_body_z=-0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.027423m	[env.py: 870]
+05/14 23:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:16:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.03875862 -1.0220912  -0.02742304] yaw=160.6deg	[env.py: 1019]
+05/14 23:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 127.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 139.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.01352287 -0.61050766 -0.02742304] yaw=-152.9deg	[env.py: 1019]
+05/14 23:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.31077155  0.06525625 -0.02742304] yaw=-114.0deg	[env.py: 1019]
+05/14 23:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:16:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=154.4ms, total=154.4ms	[env.py: 1075]
+05/14 23:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.039, -1.022, -0.027)	[env.py: 1079]
+05/14 23:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.6 deg	[env.py: 1082]
+05/14 23:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m	[env.py: 1086]
+05/14 23:16:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:16:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:16:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:16:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:16:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:16:10 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:16:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:16:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:16:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:16:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.128s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:16:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.665s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:16:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.766[m] 121.079[deg]	[grasp_sample.py: 539]
+05/14 23:16:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:16:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:16:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:16:12 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 23:16:24 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 23:16:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/14 23:16:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:16:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:16:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 23:16:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 13.83s (batch: 3.17s, save: 10.66s)	[pipeline.py: 300]
+05/14 23:16:38 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.36s:
+  episode_total: mean=212.72s, total=212.72s, count=1, min=212717.1ms, max=212717.1ms
+  sensor_polling: mean=425.2ms, total=127.57s, count=300, min=384.9ms, max=718.5ms
+  save_trajectories: mean=10.66s, total=10.66s, count=1, min=10659.6ms, max=10659.6ms
+  physics_step: mean=25.2ms, total=7.56s, count=300, min=19.4ms, max=37.9ms
+  save_batch_prep: mean=3.17s, total=3.17s, count=1, min=3170.1ms, max=3170.1ms
+  task_sampling: mean=362.1ms, total=362.1ms, count=1, min=362.1ms, max=362.1ms
+  task_specific_sample: mean=358.0ms, total=358.0ms, count=1, min=358.0ms, max=358.0ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=468.2us, 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 23:16:40 WARNING: [Worker 0] No trajectory data to save for chunk_103	[pipeline.py: 234]
+05/14 23:16:40 WARNING: [Worker 0] No trajectory data to save for chunk_103	[pipeline.py: 234]
+05/14 23:16:40 INFO: [Worker 0] Worker 0 completed house 1: 9/10 successful episodes	[pipeline.py: 1323]
+05/14 23:16:40 INFO: [Worker 0] [PROFILE] House 1 complete: 9/10 successful, 10 episodes, total_time=3475.42s
+  House averages:
+  episode_total: mean=108.57s, total=1954.25s, count=18, min=156.0ms, max=212717.1ms
+  sensor_polling: mean=412.3ms, total=1291.63s, count=3133, min=355.8ms, max=718.5ms
+  save_trajectories: mean=10.59s, total=95.34s, count=9, min=9399.9ms, max=11216.5ms
+  physics_step: mean=25.2ms, total=78.99s, count=3133, min=14.6ms, max=69.2ms
+  save_batch_prep: mean=3.13s, total=28.13s, count=9, min=2922.1ms, max=3536.6ms
+  task_sampling: mean=642.5ms, total=10.92s, count=17, min=334.2ms, max=4086.5ms
+  task_specific_sample: mean=417.6ms, total=7.52s, count=18, min=151.9ms, max=624.9ms
+  scene_load: mean=3.49s, total=3.49s, count=1, min=3487.7ms, max=3487.7ms
+  scene_env_create: mean=1.95s, total=1.95s, count=1, min=1948.7ms, max=1948.7ms
+  scene_compile: mean=1.34s, total=1.34s, count=1, min=1340.9ms, max=1340.9ms
+  compile_mujoco: mean=829.5ms, total=829.5ms, count=1, min=829.5ms, max=829.5ms
+  compile_xml_load: mean=420.2ms, total=420.2ms, count=1, min=420.2ms, max=420.2ms
+  task_sampling_failed: mean=156.0ms, total=156.0ms, count=1, min=156.0ms, max=156.0ms
+  scene_init: mean=144.3ms, total=144.3ms, count=1, min=144.3ms, max=144.3ms
+  compile_aux_objects: mean=61.8ms, total=61.8ms, count=1, min=61.8ms, max=61.8ms
+  compile_aux_policy_objects: mean=61.8ms, total=61.8ms, count=1, min=61.8ms, max=61.8ms
+  scene_asset_install: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms
+  scene_randomize: mean=2.3ms, total=42.3ms, count=18, min=1.1ms, max=9.4ms
+  asset_install_grasps: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms
+  compile_robot_add: mean=20.2ms, total=20.2ms, count=1, min=20.2ms, max=20.2ms
+  asset_install_objects: mean=11.3ms, total=11.3ms, count=1, min=11.3ms, max=11.3ms
+  mj_forward_sync: mean=513.4us, total=9.2ms, count=18, min=0.5ms, max=0.8ms
+  asset_install_scene: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms
+  policy_setup: mean=18.2us, 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 23:16:40 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/14 23:16:40 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=3475.42s
+  Worker averages:
+  episode_total: mean=108.57s, total=1954.25s, count=18, min=156.0ms, max=212717.1ms
+  sensor_polling: mean=412.3ms, total=1291.63s, count=3133, min=355.8ms, max=718.5ms
+  save_trajectories: mean=10.59s, total=95.34s, count=9, min=9399.9ms, max=11216.5ms
+  physics_step: mean=25.2ms, total=78.99s, count=3133, min=14.6ms, max=69.2ms
+  save_batch_prep: mean=3.13s, total=28.13s, count=9, min=2922.1ms, max=3536.6ms
+  task_sampling: mean=642.5ms, total=10.92s, count=17, min=334.2ms, max=4086.5ms
+  task_specific_sample: mean=417.6ms, total=7.52s, count=18, min=151.9ms, max=624.9ms
+  scene_load: mean=3.49s, total=3.49s, count=1, min=3487.7ms, max=3487.7ms
+  scene_env_create: mean=1.95s, total=1.95s, count=1, min=1948.7ms, max=1948.7ms
+  scene_compile: mean=1.34s, total=1.34s, count=1, min=1340.9ms, max=1340.9ms
+  compile_mujoco: mean=829.5ms, total=829.5ms, count=1, min=829.5ms, max=829.5ms
+  compile_xml_load: mean=420.2ms, total=420.2ms, count=1, min=420.2ms, max=420.2ms
+  task_sampling_failed: mean=156.0ms, total=156.0ms, count=1, min=156.0ms, max=156.0ms
+  scene_init: mean=144.3ms, total=144.3ms, count=1, min=144.3ms, max=144.3ms
+  compile_aux_objects: mean=61.8ms, total=61.8ms, count=1, min=61.8ms, max=61.8ms
+  compile_aux_policy_objects: mean=61.8ms, total=61.8ms, count=1, min=61.8ms, max=61.8ms
+  scene_asset_install: mean=53.6ms, total=53.6ms, count=1, min=53.6ms, max=53.6ms
+  scene_randomize: mean=2.3ms, total=42.3ms, count=18, min=1.1ms, max=9.4ms
+  asset_install_grasps: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms
+  compile_robot_add: mean=20.2ms, total=20.2ms, count=1, min=20.2ms, max=20.2ms
+  asset_install_objects: mean=11.3ms, total=11.3ms, count=1, min=11.3ms, max=11.3ms
+  mj_forward_sync: mean=513.4us, total=9.2ms, count=18, min=0.5ms, max=0.8ms
+  asset_install_scene: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms
+  policy_setup: mean=18.2us, 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 23:16:42 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/14 23:16:42 INFO: Success count: 9, Total count: 10	[pipeline.py: 1491]
+05/14 23:16:42 INFO: Success rate: 90.00%	[pipeline.py: 1492]
+05/14 23:16:57 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:17:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:17:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:17:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:17:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:17:18 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 23:17:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/14 23:17:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:17:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:17:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:17:21 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/14 23:17:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:17:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:17:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:17:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:17:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.607s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:17:21 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.141[m] 8.848[deg]	[grasp_sample.py: 539]
+05/14 23:17:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:17:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:17:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:17:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:17:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:17:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:17:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 23:17:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 13.58s (batch: 3.27s, save: 10.31s)	[pipeline.py: 300]
+05/14 23:17:32 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.03s:
+  episode_total: mean=59.07s, total=177.20s, count=3, min=2694.6ms, max=170487.3ms
+  sensor_polling: mean=398.6ms, total=119.59s, count=300, min=368.4ms, max=688.9ms
+  save_trajectories: mean=10.31s, total=10.31s, count=1, min=10306.8ms, max=10306.8ms
+  physics_step: mean=24.0ms, total=7.19s, count=300, min=16.8ms, max=36.1ms
+  save_batch_prep: mean=3.27s, total=3.27s, count=1, min=3272.5ms, max=3272.5ms
+  task_sampling: mean=342.8ms, total=1.03s, count=3, min=315.6ms, max=363.9ms
+  task_specific_sample: mean=339.5ms, total=1.02s, count=3, min=312.8ms, max=359.7ms
+  scene_randomize: mean=1.7ms, total=5.2ms, count=3, min=1.1ms, max=2.9ms
+  mj_forward_sync: mean=502.2us, total=1.5ms, count=3, min=0.5ms, max=0.6ms
+  policy_setup: mean=14.6us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:17:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:17:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:17:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:17:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:17:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:17:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:17:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:17:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:17:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014731m	[env.py: 870]
+05/14 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:17:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 144.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.44275491 -0.01065443 -0.01473073] yaw=-114.7deg	[env.py: 1019]
+05/14 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.05082039 -0.46241818 -0.01473073] yaw=-171.6deg	[env.py: 1019]
+05/14 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.09448506 -0.93085992 -0.01473073] yaw=186.8deg	[env.py: 1019]
+05/14 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:17:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=145.7ms, total=145.8ms	[env.py: 1075]
+05/14 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.443, -0.011, -0.015)	[env.py: 1079]
+05/14 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -114.7 deg	[env.py: 1082]
+05/14 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m	[env.py: 1086]
+05/14 23:17:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:17:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:17:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:17:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:17:34 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:17:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:17:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:17:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:17:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:17:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.772s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:17:38 INFO: [Worker 0] Feasible grasp found 217 (originally 102): w/ 0.855[m] 97.264[deg]	[grasp_sample.py: 539]
+05/14 23:17:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:17:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:17:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:17:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:17:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:17:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:17:43 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/14 23:17:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:17:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:17:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:17:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:17:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.655s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:17:43 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.222[m] 11.804[deg]	[grasp_sample.py: 539]
+05/14 23:17:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:17:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:17:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:17:46 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/14 23:17:46 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=False episode_total=0.43s:
+  episode_total: mean=156.54s, total=156.54s, count=1, min=156538.8ms, max=156538.8ms
+  sensor_polling: mean=408.4ms, total=122.53s, count=300, min=380.9ms, max=640.9ms
+  physics_step: mean=24.3ms, total=7.29s, count=300, min=16.4ms, max=37.3ms
+  task_sampling: mean=427.2ms, total=427.2ms, count=1, min=427.2ms, max=427.2ms
+  task_specific_sample: mean=423.4ms, total=423.4ms, count=1, min=423.4ms, max=423.4ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=468.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:17:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:17:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:17:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:17:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:17:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:17:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:17:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:17:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:17:47 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 23:17:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:17:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008999m	[env.py: 870]
+05/14 23:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:17:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.31154925 -0.46834676  0.00899879] yaw=-136.7deg	[env.py: 1019]
+05/14 23:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.26328291 -0.70158747  0.00899879] yaw=-197.7deg	[env.py: 1019]
+05/14 23:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 138.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.28580284 -0.55832094  0.00899879] yaw=-143.4deg	[env.py: 1019]
+05/14 23:17:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:17:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=94.4ms, total=94.5ms	[env.py: 1075]
+05/14 23:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.312, -0.468, 0.009)	[env.py: 1079]
+05/14 23:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.7 deg	[env.py: 1082]
+05/14 23:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.838m	[env.py: 1086]
+05/14 23:17:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:17:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:17:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:17:48 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:17:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:17:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:17:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:17:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:17:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.764s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:17:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.436[m] 92.588[deg]	[grasp_sample.py: 539]
+05/14 23:17:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:17:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:17:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:17:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:18:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:18:26 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:18:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:18:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:18:47 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 23:18:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 23:18:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:18:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:18:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:19:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:19:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 23:19:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 13.54s (batch: 3.06s, save: 10.48s)	[pipeline.py: 300]
+05/14 23:19:01 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.43s:
+  episode_total: mean=171.92s, total=171.92s, count=1, min=171924.2ms, max=171924.2ms
+  sensor_polling: mean=417.8ms, total=125.35s, count=300, min=361.8ms, max=691.4ms
+  save_trajectories: mean=10.48s, total=10.48s, count=1, min=10483.5ms, max=10483.5ms
+  physics_step: mean=23.1ms, total=6.93s, count=300, min=21.2ms, max=34.3ms
+  save_batch_prep: mean=3.06s, total=3.06s, count=1, min=3059.7ms, max=3059.7ms
+  task_sampling: mean=425.0ms, total=425.0ms, count=1, min=425.0ms, max=425.0ms
+  task_specific_sample: mean=420.9ms, total=420.9ms, count=1, min=420.9ms, max=420.9ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=451.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:19:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:19:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:19:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:19:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:19:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:19:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:19:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:19:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:19:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:19:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:19:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:19:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035728m	[env.py: 870]
+05/14 23:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:19:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.13866302 -1.20577309  0.03572811] yaw=150.4deg	[env.py: 1019]
+05/14 23:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:19:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=236.3ms, total=236.4ms	[env.py: 1075]
+05/14 23:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.139, -1.206, 0.036)	[env.py: 1079]
+05/14 23:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.4 deg	[env.py: 1082]
+05/14 23:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m	[env.py: 1086]
+05/14 23:19:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:19:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:19:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:19:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:19:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:19:03 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:19:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:19:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:19:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:19:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:19:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.124s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:19:04 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.728[m] 96.318[deg]	[grasp_sample.py: 539]
+05/14 23:19:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:19:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:19:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:19:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:19:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:19:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:19:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:19:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:19:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:19:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:19:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:19:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 23:19:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 23:19:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 23:19:26 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 23:19:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:19:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:19:29 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.227s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:19:29 INFO: [Worker 0] Feasible grasp found 225 (originally 110): w/ 0.125[m] 12.899[deg]	[grasp_sample.py: 539]
+05/14 23:19:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:19:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:19:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:19:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:19:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:19:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:19:56 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:19:59 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/14 23:19:59 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=False episode_total=0.41s:
+  episode_total: mean=144.58s, total=144.58s, count=1, min=144575.1ms, max=144575.1ms
+  sensor_polling: mean=396.1ms, total=118.82s, count=300, min=370.6ms, max=638.3ms
+  physics_step: mean=23.3ms, total=6.98s, count=300, min=17.9ms, max=32.3ms
+  task_sampling: mean=411.3ms, total=411.3ms, count=1, min=411.3ms, max=411.3ms
+  task_specific_sample: mean=407.9ms, total=407.9ms, count=1, min=407.9ms, max=407.9ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=459.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:20:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:20:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:20:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:20:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:20:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:20:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:20:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:20:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:20:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 23:20:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:20:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049084m	[env.py: 870]
+05/14 23:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:20:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.02187768 -0.37515882  0.0490839 ] yaw=-171.7deg	[env.py: 1019]
+05/14 23:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.0604577  -0.90710199  0.0490839 ] yaw=161.1deg	[env.py: 1019]
+05/14 23:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:20:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=197.5ms, total=197.5ms	[env.py: 1075]
+05/14 23:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.022, -0.375, 0.049)	[env.py: 1079]
+05/14 23:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.7 deg	[env.py: 1082]
+05/14 23:20:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.141m	[env.py: 1086]
+05/14 23:20:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:20:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:20:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:20:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:20:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:20:00 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:20:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:20:00 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 23:20:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:20:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:20:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.444s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 23:20:03 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 23:20:05 WARNING: [Worker 0] No trajectory data to save for chunk_103	[pipeline.py: 234]
+05/14 23:20:05 WARNING: [Worker 0] No trajectory data to save for chunk_103	[pipeline.py: 234]
+05/14 23:20:05 INFO: [Worker 0] Worker 0 completed house 1: 9/10 successful episodes	[pipeline.py: 1323]
+05/14 23:20:05 INFO: [Worker 0] [PROFILE] House 1 complete: 9/10 successful, 10 episodes, total_time=3928.47s
+  House averages:
+  episode_total: mean=119.75s, total=2155.52s, count=18, min=2694.6ms, max=181577.6ms
+  sensor_polling: mean=405.6ms, total=1529.16s, count=3770, min=363.0ms, max=861.9ms
+  save_trajectories: mean=10.76s, total=96.87s, count=9, min=10288.0ms, max=12465.4ms
+  physics_step: mean=24.4ms, total=91.91s, count=3770, min=15.7ms, max=55.7ms
+  save_batch_prep: mean=3.30s, total=29.67s, count=9, min=2948.3ms, max=3662.0ms
+  task_sampling: mean=589.6ms, total=10.61s, count=18, min=315.6ms, max=3521.8ms
+  task_specific_sample: mean=417.6ms, total=7.52s, count=18, min=312.8ms, max=486.6ms
+  scene_load: mean=3.03s, total=3.03s, count=1, min=3032.5ms, max=3032.5ms
+  scene_env_create: mean=1.85s, total=1.85s, count=1, min=1846.6ms, max=1846.6ms
+  scene_compile: mean=1.01s, total=1.01s, count=1, min=1013.8ms, max=1013.8ms
+  compile_mujoco: mean=758.6ms, total=758.6ms, count=1, min=758.6ms, max=758.6ms
+  compile_xml_load: mean=184.6ms, total=184.6ms, count=1, min=184.6ms, max=184.6ms
+  scene_init: mean=117.8ms, total=117.8ms, count=1, min=117.8ms, max=117.8ms
+  scene_asset_install: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms
+  compile_aux_objects: mean=53.4ms, total=53.4ms, count=1, min=53.4ms, max=53.4ms
+  compile_aux_policy_objects: mean=53.4ms, total=53.4ms, count=1, min=53.4ms, max=53.4ms
+  asset_install_grasps: mean=37.8ms, total=37.8ms, count=1, min=37.8ms, max=37.8ms
+  scene_randomize: mean=1.9ms, total=34.9ms, count=18, min=1.1ms, max=3.1ms
+  asset_install_objects: mean=12.2ms, total=12.2ms, count=1, min=12.2ms, max=12.2ms
+  mj_forward_sync: mean=500.1us, total=9.0ms, count=18, min=0.4ms, max=0.7ms
+  compile_robot_add: mean=8.1ms, total=8.1ms, count=1, min=8.1ms, max=8.1ms
+  asset_install_scene: mean=4.0ms, total=4.0ms, count=1, min=4.0ms, max=4.0ms
+  policy_setup: mean=18.7us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/14 23:20:05 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/14 23:20:05 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=3928.47s
+  Worker averages:
+  episode_total: mean=119.75s, total=2155.52s, count=18, min=2694.6ms, max=181577.6ms
+  sensor_polling: mean=405.6ms, total=1529.16s, count=3770, min=363.0ms, max=861.9ms
+  save_trajectories: mean=10.76s, total=96.87s, count=9, min=10288.0ms, max=12465.4ms
+  physics_step: mean=24.4ms, total=91.91s, count=3770, min=15.7ms, max=55.7ms
+  save_batch_prep: mean=3.30s, total=29.67s, count=9, min=2948.3ms, max=3662.0ms
+  task_sampling: mean=589.6ms, total=10.61s, count=18, min=315.6ms, max=3521.8ms
+  task_specific_sample: mean=417.6ms, total=7.52s, count=18, min=312.8ms, max=486.6ms
+  scene_load: mean=3.03s, total=3.03s, count=1, min=3032.5ms, max=3032.5ms
+  scene_env_create: mean=1.85s, total=1.85s, count=1, min=1846.6ms, max=1846.6ms
+  scene_compile: mean=1.01s, total=1.01s, count=1, min=1013.8ms, max=1013.8ms
+  compile_mujoco: mean=758.6ms, total=758.6ms, count=1, min=758.6ms, max=758.6ms
+  compile_xml_load: mean=184.6ms, total=184.6ms, count=1, min=184.6ms, max=184.6ms
+  scene_init: mean=117.8ms, total=117.8ms, count=1, min=117.8ms, max=117.8ms
+  scene_asset_install: mean=53.9ms, total=53.9ms, count=1, min=53.9ms, max=53.9ms
+  compile_aux_objects: mean=53.4ms, total=53.4ms, count=1, min=53.4ms, max=53.4ms
+  compile_aux_policy_objects: mean=53.4ms, total=53.4ms, count=1, min=53.4ms, max=53.4ms
+  asset_install_grasps: mean=37.8ms, total=37.8ms, count=1, min=37.8ms, max=37.8ms
+  scene_randomize: mean=1.9ms, total=34.9ms, count=18, min=1.1ms, max=3.1ms
+  asset_install_objects: mean=12.2ms, total=12.2ms, count=1, min=12.2ms, max=12.2ms
+  mj_forward_sync: mean=500.1us, total=9.0ms, count=18, min=0.4ms, max=0.7ms
+  compile_robot_add: mean=8.1ms, total=8.1ms, count=1, min=8.1ms, max=8.1ms
+  asset_install_scene: mean=4.0ms, total=4.0ms, count=1, min=4.0ms, max=4.0ms
+  policy_setup: mean=18.7us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/14 23:20:07 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/14 23:20:07 INFO: Success count: 9, Total count: 10	[pipeline.py: 1491]
+05/14 23:20:07 INFO: Success rate: 90.00%	[pipeline.py: 1492]
+05/14 23:20:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:20:16 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 23:20:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 23:20:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:20:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:20:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:20:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:20:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 23:20:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 13.49s (batch: 2.89s, save: 10.61s)	[pipeline.py: 300]
+05/14 23:20:30 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.33s:
+  episode_total: mean=162.70s, total=162.70s, count=1, min=162702.2ms, max=162702.2ms
+  sensor_polling: mean=391.7ms, total=117.52s, count=300, min=378.6ms, max=696.9ms
+  save_trajectories: mean=10.61s, total=10.61s, count=1, min=10606.2ms, max=10606.2ms
+  physics_step: mean=23.1ms, total=6.92s, count=300, min=16.9ms, max=31.4ms
+  save_batch_prep: mean=2.89s, total=2.89s, count=1, min=2885.2ms, max=2885.2ms
+  task_sampling: mean=334.9ms, total=334.9ms, count=1, min=334.9ms, max=334.9ms
+  task_specific_sample: mean=331.5ms, total=331.5ms, count=1, min=331.5ms, max=331.5ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=490.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.5us, 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 23:20:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:20:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:20:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:20:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:20:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:20:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:20:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:20:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:20:31 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 23:20:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:20:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039774m	[env.py: 870]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:20:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.12491029 -0.58141868  0.03977402] yaw=-149.4deg	[env.py: 1019]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 147.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.26918332 -0.46031948  0.03977402] yaw=-166.3deg	[env.py: 1019]
+05/14 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:20:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=167.5ms, total=167.6ms	[env.py: 1075]
+05/14 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.125, -0.581, 0.040)	[env.py: 1079]
+05/14 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.4 deg	[env.py: 1082]
+05/14 23:20:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m	[env.py: 1086]
+05/14 23:20:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:20:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:20:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:20:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:20:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:20:32 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:20:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:20:32 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 23:20:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:20:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:20:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.786s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:20:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.534[m] 79.915[deg]	[grasp_sample.py: 539]
+05/14 23:20:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:20:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:20:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:20:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:21:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:21:19 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:21:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:21:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:21:39 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 23:21:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/14 23:21:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:21:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:21:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 23:21:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 13.39s (batch: 2.97s, save: 10.43s)	[pipeline.py: 300]
+05/14 23:21:53 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.53s:
+  episode_total: mean=170.69s, total=170.69s, count=1, min=170693.2ms, max=170693.2ms
+  sensor_polling: mean=416.3ms, total=124.90s, count=300, min=397.9ms, max=675.4ms
+  save_trajectories: mean=10.43s, total=10.43s, count=1, min=10428.8ms, max=10428.8ms
+  physics_step: mean=23.2ms, total=6.97s, count=300, min=16.8ms, max=32.8ms
+  save_batch_prep: mean=2.97s, total=2.97s, count=1, min=2965.7ms, max=2965.7ms
+  task_sampling: mean=527.1ms, total=527.1ms, count=1, min=527.1ms, max=527.1ms
+  task_specific_sample: mean=523.6ms, total=523.6ms, count=1, min=523.6ms, max=523.6ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=455.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:21:55 WARNING: [Worker 0] No trajectory data to save for chunk_103	[pipeline.py: 234]
+05/14 23:21:55 WARNING: [Worker 0] No trajectory data to save for chunk_103	[pipeline.py: 234]
+05/14 23:21:55 INFO: [Worker 0] Worker 0 completed house 1: 9/11 successful episodes	[pipeline.py: 1323]
+05/14 23:21:55 INFO: [Worker 0] [PROFILE] House 1 complete: 9/11 successful, 11 episodes, total_time=4126.01s
+  House averages:
+  episode_total: mean=125.80s, total=2264.42s, count=18, min=2620.4ms, max=212810.6ms
+  sensor_polling: mean=425.7ms, total=1619.46s, count=3804, min=361.8ms, max=767.6ms
+  save_trajectories: mean=10.78s, total=96.98s, count=9, min=10331.4ms, max=12526.1ms
+  physics_step: mean=24.3ms, total=92.35s, count=3804, min=15.3ms, max=61.2ms
+  save_batch_prep: mean=3.17s, total=28.56s, count=9, min=2698.4ms, max=3703.6ms
+  task_sampling: mean=570.2ms, total=10.26s, count=18, min=290.5ms, max=3182.4ms
+  task_specific_sample: mean=415.2ms, total=7.47s, count=18, min=286.9ms, max=555.5ms
+  scene_load: mean=2.73s, total=2.73s, count=1, min=2729.2ms, max=2729.2ms
+  scene_env_create: mean=1.66s, total=1.66s, count=1, min=1655.5ms, max=1655.5ms
+  scene_compile: mean=905.8ms, total=905.8ms, count=1, min=905.8ms, max=905.8ms
+  compile_mujoco: mean=640.2ms, total=640.2ms, count=1, min=640.2ms, max=640.2ms
+  compile_xml_load: mean=193.2ms, total=193.2ms, count=1, min=193.2ms, max=193.2ms
+  scene_init: mean=115.4ms, total=115.4ms, count=1, min=115.4ms, max=115.4ms
+  compile_aux_objects: mean=54.4ms, total=54.4ms, count=1, min=54.4ms, max=54.4ms
+  compile_aux_policy_objects: mean=54.4ms, total=54.4ms, count=1, min=54.4ms, max=54.4ms
+  scene_asset_install: mean=52.2ms, total=52.2ms, count=1, min=52.2ms, max=52.2ms
+  asset_install_grasps: mean=36.6ms, total=36.6ms, count=1, min=36.6ms, max=36.6ms
+  scene_randomize: mean=1.8ms, total=33.0ms, count=18, min=1.1ms, max=2.8ms
+  asset_install_objects: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms
+  compile_robot_add: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
+  mj_forward_sync: mean=452.7us, total=8.1ms, count=18, min=0.4ms, max=0.5ms
+  asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms
+  policy_setup: mean=16.9us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/14 23:21:55 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/14 23:21:55 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=4126.01s
+  Worker averages:
+  episode_total: mean=125.80s, total=2264.42s, count=18, min=2620.4ms, max=212810.6ms
+  sensor_polling: mean=425.7ms, total=1619.46s, count=3804, min=361.8ms, max=767.6ms
+  save_trajectories: mean=10.78s, total=96.98s, count=9, min=10331.4ms, max=12526.1ms
+  physics_step: mean=24.3ms, total=92.35s, count=3804, min=15.3ms, max=61.2ms
+  save_batch_prep: mean=3.17s, total=28.56s, count=9, min=2698.4ms, max=3703.6ms
+  task_sampling: mean=570.2ms, total=10.26s, count=18, min=290.5ms, max=3182.4ms
+  task_specific_sample: mean=415.2ms, total=7.47s, count=18, min=286.9ms, max=555.5ms
+  scene_load: mean=2.73s, total=2.73s, count=1, min=2729.2ms, max=2729.2ms
+  scene_env_create: mean=1.66s, total=1.66s, count=1, min=1655.5ms, max=1655.5ms
+  scene_compile: mean=905.8ms, total=905.8ms, count=1, min=905.8ms, max=905.8ms
+  compile_mujoco: mean=640.2ms, total=640.2ms, count=1, min=640.2ms, max=640.2ms
+  compile_xml_load: mean=193.2ms, total=193.2ms, count=1, min=193.2ms, max=193.2ms
+  scene_init: mean=115.4ms, total=115.4ms, count=1, min=115.4ms, max=115.4ms
+  compile_aux_objects: mean=54.4ms, total=54.4ms, count=1, min=54.4ms, max=54.4ms
+  compile_aux_policy_objects: mean=54.4ms, total=54.4ms, count=1, min=54.4ms, max=54.4ms
+  scene_asset_install: mean=52.2ms, total=52.2ms, count=1, min=52.2ms, max=52.2ms
+  asset_install_grasps: mean=36.6ms, total=36.6ms, count=1, min=36.6ms, max=36.6ms
+  scene_randomize: mean=1.8ms, total=33.0ms, count=18, min=1.1ms, max=2.8ms
+  asset_install_objects: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms
+  compile_robot_add: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
+  mj_forward_sync: mean=452.7us, total=8.1ms, count=18, min=0.4ms, max=0.5ms
+  asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms
+  policy_setup: mean=16.9us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/14 23:21:57 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/14 23:21:57 INFO: Success count: 9, Total count: 11	[pipeline.py: 1491]
+05/14 23:21:57 INFO: Success rate: 81.82%	[pipeline.py: 1492]
+05/14 23:22:39 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:23:00 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 23:23:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 23:23:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:23:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:23:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 23:23:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 14.05s (batch: 3.36s, save: 10.69s)	[pipeline.py: 300]
+05/14 23:23:15 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.42s:
+  episode_total: mean=163.12s, total=163.12s, count=1, min=163121.2ms, max=163121.2ms
+  sensor_polling: mean=387.8ms, total=116.34s, count=300, min=369.5ms, max=695.1ms
+  save_trajectories: mean=10.69s, total=10.69s, count=1, min=10691.6ms, max=10691.6ms
+  physics_step: mean=23.4ms, total=7.01s, count=300, min=16.6ms, max=30.8ms
+  save_batch_prep: mean=3.36s, total=3.36s, count=1, min=3357.3ms, max=3357.3ms
+  task_sampling: mean=418.4ms, total=418.4ms, count=1, min=418.4ms, max=418.4ms
+  task_specific_sample: mean=414.4ms, total=414.4ms, count=1, min=414.4ms, max=414.4ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=447.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:23:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 23:23:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 23:23:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 23:23:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:23:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:23:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:23:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:23:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 23:23:16 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 23:23:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 23:23:16 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 23:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 23:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 23:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042286m	[env.py: 870]
+05/14 23:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 23:23:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 23:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 23:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.13862617 -0.86590311  0.04228584] yaw=170.8deg	[env.py: 1019]
+05/14 23:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 23:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -156.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 23:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.40246954  0.00496556  0.04228584] yaw=-112.2deg	[env.py: 1019]
+05/14 23:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 23:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.3437606  -0.45495983  0.04228584] yaw=-146.9deg	[env.py: 1019]
+05/14 23:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 23:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 23:23:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=252.5ms, total=252.5ms	[env.py: 1075]
+05/14 23:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.139, -0.866, 0.042)	[env.py: 1079]
+05/14 23:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.8 deg	[env.py: 1082]
+05/14 23:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m	[env.py: 1086]
+05/14 23:23:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 23:23:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 23:23:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 23:23:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 23:23:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 23:23:16 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/14 23:23:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/14 23:23:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 23:23:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 23:23:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 23:23:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.793s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 23:23:17 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.470[m] 88.144[deg]	[grasp_sample.py: 539]
+05/14 23:23:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 23:23:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 23:23:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:23:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 23:23:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:24:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 23:24:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 23:25:24 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 23:25:46 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[pipeline.py: 1174]
+05/14 23:25:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_103 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/14 23:25:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 23:26:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 23:26:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_103	[save_utils.py: 785]
+05/14 23:26:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_103 in 13.66s (batch: 3.08s, save: 10.58s)	[pipeline.py: 300]
+05/14 23:26:00 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.52s:
+  episode_total: mean=164.40s, total=164.40s, count=1, min=164398.4ms, max=164398.4ms
+  sensor_polling: mean=390.4ms, total=117.11s, count=300, min=372.9ms, max=694.1ms
+  save_trajectories: mean=10.58s, total=10.58s, count=1, min=10575.9ms, max=10575.9ms
+  physics_step: mean=22.9ms, total=6.87s, count=300, min=16.7ms, max=35.3ms
+  save_batch_prep: mean=3.08s, total=3.08s, count=1, min=3083.7ms, max=3083.7ms
+  task_sampling: mean=519.1ms, total=519.1ms, count=1, min=519.1ms, max=519.1ms
+  task_specific_sample: mean=515.8ms, total=515.8ms, count=1, min=515.8ms, max=515.8ms
+  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
+  mj_forward_sync: mean=447.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 23:26:02 WARNING: [Worker 0] No trajectory data to save for chunk_103	[pipeline.py: 234]
+05/14 23:26:02 WARNING: [Worker 0] No trajectory data to save for chunk_103	[pipeline.py: 234]
+05/14 23:26:02 INFO: [Worker 0] Worker 0 completed house 1: 13/14 successful episodes	[pipeline.py: 1323]
+05/14 23:26:02 INFO: [Worker 0] [PROFILE] House 1 complete: 13/14 successful, 14 episodes, total_time=4556.91s
+  House averages:
+  episode_total: mean=139.82s, total=2516.68s, count=18, min=2778.3ms, max=237298.0ms
+  sensor_polling: mean=399.4ms, total=1724.56s, count=4318, min=369.5ms, max=729.1ms
+  save_trajectories: mean=11.03s, total=143.43s, count=13, min=10210.1ms, max=13332.3ms
+  physics_step: mean=24.0ms, total=103.53s, count=4318, min=15.2ms, max=59.5ms
+  save_batch_prep: mean=3.00s, total=39.00s, count=13, min=2786.7ms, max=3357.3ms
+  task_sampling: mean=700.0ms, total=12.60s, count=18, min=334.9ms, max=3788.5ms
+  task_specific_sample: mean=512.7ms, total=9.23s, count=18, min=331.5ms, max=1026.6ms
+  scene_load: mean=3.31s, total=3.31s, count=1, min=3308.6ms, max=3308.6ms
+  scene_env_create: mean=2.01s, total=2.01s, count=1, min=2009.0ms, max=2009.0ms
+  scene_compile: mean=1.12s, total=1.12s, count=1, min=1115.5ms, max=1115.5ms
+  compile_mujoco: mean=720.5ms, total=720.5ms, count=1, min=720.5ms, max=720.5ms
+  compile_xml_load: mean=311.7ms, total=311.7ms, count=1, min=311.7ms, max=311.7ms
+  scene_init: mean=132.5ms, total=132.5ms, count=1, min=132.5ms, max=132.5ms
+  compile_aux_objects: mean=54.2ms, total=54.2ms, count=1, min=54.2ms, max=54.2ms
+  compile_aux_policy_objects: mean=54.2ms, total=54.2ms, count=1, min=54.2ms, max=54.2ms
+  scene_asset_install: mean=51.3ms, total=51.3ms, count=1, min=51.3ms, max=51.3ms
+  asset_install_grasps: mean=37.2ms, total=37.2ms, count=1, min=37.2ms, max=37.2ms
+  scene_randomize: mean=2.0ms, total=36.6ms, count=18, min=1.1ms, max=3.2ms
+  compile_robot_add: mean=20.2ms, total=20.2ms, count=1, min=20.2ms, max=20.2ms
+  asset_install_objects: mean=10.8ms, total=10.8ms, count=1, min=10.8ms, max=10.8ms
+  mj_forward_sync: mean=491.8us, total=8.9ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  policy_setup: mean=20.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/14 23:26:02 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/14 23:26:02 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=4556.91s
+  Worker averages:
+  episode_total: mean=139.82s, total=2516.68s, count=18, min=2778.3ms, max=237298.0ms
+  sensor_polling: mean=399.4ms, total=1724.56s, count=4318, min=369.5ms, max=729.1ms
+  save_trajectories: mean=11.03s, total=143.43s, count=13, min=10210.1ms, max=13332.3ms
+  physics_step: mean=24.0ms, total=103.53s, count=4318, min=15.2ms, max=59.5ms
+  save_batch_prep: mean=3.00s, total=39.00s, count=13, min=2786.7ms, max=3357.3ms
+  task_sampling: mean=700.0ms, total=12.60s, count=18, min=334.9ms, max=3788.5ms
+  task_specific_sample: mean=512.7ms, total=9.23s, count=18, min=331.5ms, max=1026.6ms
+  scene_load: mean=3.31s, total=3.31s, count=1, min=3308.6ms, max=3308.6ms
+  scene_env_create: mean=2.01s, total=2.01s, count=1, min=2009.0ms, max=2009.0ms
+  scene_compile: mean=1.12s, total=1.12s, count=1, min=1115.5ms, max=1115.5ms
+  compile_mujoco: mean=720.5ms, total=720.5ms, count=1, min=720.5ms, max=720.5ms
+  compile_xml_load: mean=311.7ms, total=311.7ms, count=1, min=311.7ms, max=311.7ms
+  scene_init: mean=132.5ms, total=132.5ms, count=1, min=132.5ms, max=132.5ms
+  compile_aux_objects: mean=54.2ms, total=54.2ms, count=1, min=54.2ms, max=54.2ms
+  compile_aux_policy_objects: mean=54.2ms, total=54.2ms, count=1, min=54.2ms, max=54.2ms
+  scene_asset_install: mean=51.3ms, total=51.3ms, count=1, min=51.3ms, max=51.3ms
+  asset_install_grasps: mean=37.2ms, total=37.2ms, count=1, min=37.2ms, max=37.2ms
+  scene_randomize: mean=2.0ms, total=36.6ms, count=18, min=1.1ms, max=3.2ms
+  compile_robot_add: mean=20.2ms, total=20.2ms, count=1, min=20.2ms, max=20.2ms
+  asset_install_objects: mean=10.8ms, total=10.8ms, count=1, min=10.8ms, max=10.8ms
+  mj_forward_sync: mean=491.8us, total=8.9ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  policy_setup: mean=20.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/14 23:26:04 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/14 23:26:04 INFO: Success count: 13, Total count: 14	[pipeline.py: 1491]
+05/14 23:26:04 INFO: Success rate: 92.86%	[pipeline.py: 1492]
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